# 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_5v2.rte # Mission File: Lucia2008_5v2.cfg # Distance: 89604.710216 (m) # Estimated Time: 62652 (s) 17.403 (hr) # Abort Time: 62652 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1359 (s) # Way Points: 28 # Route Points: 826 # 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: 1120.040068 (m) # Abort Vehicle Depth: 1145.040068 (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 -121.849040 35.774513 -1098.006917 0.000000 3 # 1 -121.850514 35.772762 -1095.944173 235.508052 4 # 2 -121.852172 35.773315 -1097.545736 397.480912 3 # 3 -121.871152 35.749360 -1103.355062 3560.586611 4 # 4 -121.872626 35.750097 -1106.333984 3716.960816 3 # 5 -121.830060 35.803167 -1079.122559 10749.637708 4 # 6 -121.831442 35.803719 -1082.391846 10888.764171 3 # 7 -121.873916 35.751018 -1113.512695 17882.661357 4 # 8 -121.875298 35.751571 -1111.094727 18021.859425 3 # 9 -121.833008 35.804641 -1084.493164 25040.855973 4 # 10 -121.834390 35.805470 -1088.343587 25195.955377 3 # 11 -121.876772 35.752308 -1117.364176 32228.036969 4 # 12 -121.878154 35.753137 -1116.500651 32383.200283 3 # 13 -121.835772 35.806023 -1087.859863 39389.570985 4 # 14 -121.837154 35.806852 -1092.463379 39544.668559 3 # 15 -121.879536 35.753690 -1120.003418 46576.710665 4 # 16 -121.880918 35.754519 -1121.984701 46731.872154 3 # 17 -121.838537 35.807681 -1095.020671 53763.891020 4 # 18 -121.839919 35.808234 -1097.835449 53903.010881 3 # 19 -121.882300 35.755349 -1125.724121 60909.318665 4 # 20 -121.883867 35.755994 -1128.587728 61067.980306 3 # 21 -121.841301 35.809063 -1100.585693 68100.488270 4 # 22 -121.842775 35.809800 -1110.554525 68256.779032 3 # 23 -121.885064 35.756731 -1131.594076 75275.629445 4 # 24 -121.886354 35.757376 -1131.617432 75412.447380 3 # 25 -121.844065 35.810445 -1103.688151 82431.279425 4 # 26 -121.845447 35.811274 -1101.543457 82586.371162 3 # 27 -121.887552 35.758113 -1132.753743 89604.710216 4 # # A total of 826 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 62652; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1120.040068; abortDepth = 1145.040068; 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 = 1359; 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 27 # Segment length 117.753835 meters # Minimum depth: 1132.753743 meters looking forward 0.000000 meters along route # Maximum depth: 1132.753743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.753743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758113; longitude = -121.887552; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1084.652768; finalDepth = 1082.753743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.753743 # Seafloor depth:-1132.753743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1134.652768 meters looking forward 0.000000 meters along route # Maximum depth: 1134.652768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.652768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758850; longitude = -121.886968; captureRadius = 10; duration = 117; initialDepth = 1085.007817; finalDepth = 1084.652768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.652768 # Seafloor depth:-1134.652768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1135.007817 meters looking forward 0.000000 meters along route # Maximum depth: 1135.007817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.007817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759741; longitude = -121.886262; captureRadius = 10; duration = 117; initialDepth = 1085.729865; finalDepth = 1085.007817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1085.007817 # Seafloor depth:-1135.007817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1135.729865 meters looking forward 0.000000 meters along route # Maximum depth: 1135.729865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.729865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.885655; captureRadius = 10; duration = 117; initialDepth = 1086.142661; finalDepth = 1085.729865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1085.729865 # Seafloor depth:-1135.729865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1136.142661 meters looking forward 0.000000 meters along route # Maximum depth: 1136.142661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.142661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.884998; captureRadius = 10; duration = 117; initialDepth = 1085.395266; finalDepth = 1086.142661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.142661 # Seafloor depth:-1136.142661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1135.395266 meters looking forward 0.000000 meters along route # Maximum depth: 1135.395266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.395266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762184; longitude = -121.884327; captureRadius = 10; duration = 117; initialDepth = 1087.814655; finalDepth = 1085.395266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1085.395266 # Seafloor depth:-1135.395266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1137.814655 meters looking forward 0.000000 meters along route # Maximum depth: 1137.814655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.814655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762996; longitude = -121.883685; captureRadius = 10; duration = 117; initialDepth = 1091.785119; finalDepth = 1087.814655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.814655 # Seafloor depth:-1137.814655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1141.785119 meters looking forward 0.000000 meters along route # Maximum depth: 1141.785119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.785119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.883028; captureRadius = 10; duration = 117; initialDepth = 1087.318522; finalDepth = 1091.785119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1091.785119 # Seafloor depth:-1141.785119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1137.318522 meters looking forward 0.000000 meters along route # Maximum depth: 1137.318522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.318522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.882371; captureRadius = 10; duration = 117; initialDepth = 1089.806544; finalDepth = 1087.318522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.318522 # Seafloor depth:-1137.318522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1139.806544 meters looking forward 0.000000 meters along route # Maximum depth: 1139.806544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.806544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765483; longitude = -121.881714; captureRadius = 10; duration = 117; initialDepth = 1089.989490; finalDepth = 1089.806544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.806544 # Seafloor depth:-1139.806544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1139.989490 meters looking forward 0.000000 meters along route # Maximum depth: 1139.989490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.989490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766372; longitude = -121.881011; captureRadius = 10; duration = 117; initialDepth = 1089.696781; finalDepth = 1089.989490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.98949 # Seafloor depth:-1139.989490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1139.696781 meters looking forward 0.000000 meters along route # Maximum depth: 1139.696781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.696781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767142; longitude = -121.880401; captureRadius = 10; duration = 117; initialDepth = 1086.930735; finalDepth = 1089.696781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.696781 # Seafloor depth:-1139.696781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1136.930735 meters looking forward 0.000000 meters along route # Maximum depth: 1136.930735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.930735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.879744; captureRadius = 10; duration = 117; initialDepth = 1086.955287; finalDepth = 1086.930735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.930735 # Seafloor depth:-1136.930735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1136.955287 meters looking forward 0.000000 meters along route # Maximum depth: 1136.955287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.955287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768815; longitude = -121.879076; captureRadius = 10; duration = 117; initialDepth = 1089.465435; finalDepth = 1086.955287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.955287 # Seafloor depth:-1136.955287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1139.465435 meters looking forward 0.000000 meters along route # Maximum depth: 1139.465435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.465435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.878430; captureRadius = 10; duration = 117; initialDepth = 1087.050559; finalDepth = 1089.465435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.465435 # Seafloor depth:-1139.465435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1137.050559 meters looking forward 0.000000 meters along route # Maximum depth: 1137.050559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.050559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.877774; captureRadius = 10; duration = 117; initialDepth = 1086.505700; finalDepth = 1087.050559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.050559 # Seafloor depth:-1137.050559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1136.505700 meters looking forward 0.000000 meters along route # Maximum depth: 1136.505700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.505700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.877117; captureRadius = 10; duration = 117; initialDepth = 1090.096135; finalDepth = 1086.505700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.5057 # Seafloor depth:-1136.505700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1140.096135 meters looking forward 0.000000 meters along route # Maximum depth: 1140.096135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.096135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.876460; captureRadius = 10; duration = 117; initialDepth = 1086.111169; finalDepth = 1090.096135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.096135 # Seafloor depth:-1140.096135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1136.111169 meters looking forward 0.000000 meters along route # Maximum depth: 1136.111169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.111169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773003; longitude = -121.875759; captureRadius = 10; duration = 117; initialDepth = 1080.972237; finalDepth = 1086.111169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.111169 # Seafloor depth:-1136.111169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1130.972237 meters looking forward 0.000000 meters along route # Maximum depth: 1130.972237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.972237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.875147; captureRadius = 10; duration = 117; initialDepth = 1082.721166; finalDepth = 1080.972237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.972237 # Seafloor depth:-1130.972237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1132.721166 meters looking forward 0.000000 meters along route # Maximum depth: 1132.721166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.721166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.874490; captureRadius = 10; duration = 117; initialDepth = 1080.765156; finalDepth = 1082.721166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.721166 # Seafloor depth:-1132.721166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1130.765156 meters looking forward 0.000000 meters along route # Maximum depth: 1130.765156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.765156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775445; longitude = -121.873824; captureRadius = 10; duration = 117; initialDepth = 1079.606328; finalDepth = 1080.765156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.765156 # Seafloor depth:-1130.765156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1129.606328 meters looking forward 0.000000 meters along route # Maximum depth: 1129.606328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.606328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.873176; captureRadius = 10; duration = 117; initialDepth = 1081.080251; finalDepth = 1079.606328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.606328 # Seafloor depth:-1129.606328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1131.080251 meters looking forward 0.000000 meters along route # Maximum depth: 1131.080251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.080251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.872520; captureRadius = 10; duration = 117; initialDepth = 1094.068578; finalDepth = 1081.080251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.080251 # Seafloor depth:-1131.080251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1144.068578 meters looking forward 0.000000 meters along route # Maximum depth: 1144.068578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.068578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777922; longitude = -121.871863; captureRadius = 10; duration = 117; initialDepth = 1095.040068; finalDepth = 1094.068578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.068578 # Seafloor depth:-1144.068578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1145.040068 meters looking forward 0.000000 meters along route # Maximum depth: 1145.040068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.040068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.871206; captureRadius = 10; duration = 117; initialDepth = 1088.418119; finalDepth = 1095.040068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.040068 # Seafloor depth:-1145.040068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1138.418119 meters looking forward 0.000000 meters along route # Maximum depth: 1138.418119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.418119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779633; longitude = -121.870507; captureRadius = 10; duration = 117; initialDepth = 1086.425683; finalDepth = 1088.418119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.418119 # Seafloor depth:-1138.418119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1136.425683 meters looking forward 0.000000 meters along route # Maximum depth: 1136.425683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.425683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.869893; captureRadius = 10; duration = 117; initialDepth = 1092.119437; finalDepth = 1086.425683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.425683 # Seafloor depth:-1136.425683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1142.119437 meters looking forward 0.000000 meters along route # Maximum depth: 1142.119437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.119437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.869236; captureRadius = 10; duration = 117; initialDepth = 1082.397095; finalDepth = 1092.119437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.119437 # Seafloor depth:-1142.119437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1132.397095 meters looking forward 0.000000 meters along route # Maximum depth: 1132.397095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.397095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782076; longitude = -121.868572; captureRadius = 10; duration = 117; initialDepth = 1083.646166; finalDepth = 1082.397095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.397095 # Seafloor depth:-1132.397095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1133.646166 meters looking forward 0.000000 meters along route # Maximum depth: 1133.646166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.646166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.867922; captureRadius = 10; duration = 117; initialDepth = 1084.237656; finalDepth = 1083.646166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.646166 # Seafloor depth:-1133.646166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1134.237656 meters looking forward 0.000000 meters along route # Maximum depth: 1134.237656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.237656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.867266; captureRadius = 10; duration = 117; initialDepth = 1081.378934; finalDepth = 1084.237656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.237656 # Seafloor depth:-1134.237656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1131.378934 meters looking forward 0.000000 meters along route # Maximum depth: 1131.378934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.378934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.866609; captureRadius = 10; duration = 117; initialDepth = 1082.994226; finalDepth = 1081.378934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.378934 # Seafloor depth:-1131.378934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1132.994226 meters looking forward 0.000000 meters along route # Maximum depth: 1132.994226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.994226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.865952; captureRadius = 10; duration = 117; initialDepth = 1079.860265; finalDepth = 1082.994226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.994226 # Seafloor depth:-1132.994226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1129.860265 meters looking forward 0.000000 meters along route # Maximum depth: 1129.860265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.860265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786264; longitude = -121.865256; captureRadius = 10; duration = 117; initialDepth = 1078.772585; finalDepth = 1079.860265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.860265 # Seafloor depth:-1129.860265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1128.772585 meters looking forward 0.000000 meters along route # Maximum depth: 1128.772585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.772585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.864639; captureRadius = 10; duration = 117; initialDepth = 1088.258533; finalDepth = 1078.772585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.772585 # Seafloor depth:-1128.772585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1138.258533 meters looking forward 0.000000 meters along route # Maximum depth: 1138.258533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.258533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.863982; captureRadius = 10; duration = 117; initialDepth = 1087.671370; finalDepth = 1088.258533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.258533 # Seafloor depth:-1138.258533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1137.671370 meters looking forward 0.000000 meters along route # Maximum depth: 1137.671370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.671370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788707; longitude = -121.863321; captureRadius = 10; duration = 117; initialDepth = 1086.478840; finalDepth = 1087.671370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.67137 # Seafloor depth:-1137.671370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1136.478840 meters looking forward 0.000000 meters along route # Maximum depth: 1136.478840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.478840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.862668; captureRadius = 10; duration = 117; initialDepth = 1083.844798; finalDepth = 1086.478840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.47884 # Seafloor depth:-1136.478840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1133.844798 meters looking forward 0.000000 meters along route # Maximum depth: 1133.844798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.844798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790360; longitude = -121.862012; captureRadius = 10; duration = 117; initialDepth = 1087.840115; finalDepth = 1083.844798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.844798 # Seafloor depth:-1133.844798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1137.840115 meters looking forward 0.000000 meters along route # Maximum depth: 1137.840115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.840115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791189; longitude = -121.861355; captureRadius = 10; duration = 117; initialDepth = 1089.698873; finalDepth = 1087.840115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.840115 # Seafloor depth:-1137.840115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1139.698873 meters looking forward 0.000000 meters along route # Maximum depth: 1139.698873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.698873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.860698; captureRadius = 10; duration = 117; initialDepth = 1085.138930; finalDepth = 1089.698873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.698873 # Seafloor depth:-1139.698873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1135.138930 meters looking forward 0.000000 meters along route # Maximum depth: 1135.138930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.138930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792895; longitude = -121.860004; captureRadius = 10; duration = 117; initialDepth = 1080.020489; finalDepth = 1085.138930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1085.13893 # Seafloor depth:-1135.138930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1130.020489 meters looking forward 0.000000 meters along route # Maximum depth: 1130.020489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.020489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.859384; captureRadius = 10; duration = 117; initialDepth = 1080.388326; finalDepth = 1080.020489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.020489 # Seafloor depth:-1130.020489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1130.388326 meters looking forward 0.000000 meters along route # Maximum depth: 1130.388326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.388326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.858728; captureRadius = 10; duration = 117; initialDepth = 1082.389205; finalDepth = 1080.388326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.388326 # Seafloor depth:-1130.388326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1132.389205 meters looking forward 0.000000 meters along route # Maximum depth: 1132.389205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.389205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795337; longitude = -121.858069; captureRadius = 10; duration = 117; initialDepth = 1084.084917; finalDepth = 1082.389205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.389205 # Seafloor depth:-1132.389205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1134.084917 meters looking forward 0.000000 meters along route # Maximum depth: 1134.084917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.084917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.857414; captureRadius = 10; duration = 117; initialDepth = 1084.065213; finalDepth = 1084.084917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.084917 # Seafloor depth:-1134.084917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1134.065213 meters looking forward 0.000000 meters along route # Maximum depth: 1134.065213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.065213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -121.856757; captureRadius = 10; duration = 117; initialDepth = 1087.733436; finalDepth = 1084.065213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.065213 # Seafloor depth:-1134.065213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1137.733436 meters looking forward 0.000000 meters along route # Maximum depth: 1137.733436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.733436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797823; longitude = -121.856101; captureRadius = 10; duration = 117; initialDepth = 1081.802203; finalDepth = 1087.733436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.733436 # Seafloor depth:-1137.733436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1131.802203 meters looking forward 0.000000 meters along route # Maximum depth: 1131.802203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.802203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798652; longitude = -121.855444; captureRadius = 10; duration = 117; initialDepth = 1079.891124; finalDepth = 1081.802203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.802203 # Seafloor depth:-1131.802203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1129.891124 meters looking forward 0.000000 meters along route # Maximum depth: 1129.891124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.891124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799525; longitude = -121.854752; captureRadius = 10; duration = 117; initialDepth = 1079.865719; finalDepth = 1079.891124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.891124 # Seafloor depth:-1129.891124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1129.865719 meters looking forward 0.000000 meters along route # Maximum depth: 1129.865719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.865719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800310; longitude = -121.854130; captureRadius = 10; duration = 117; initialDepth = 1074.558476; finalDepth = 1079.865719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.865719 # Seafloor depth:-1129.865719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1124.558476 meters looking forward 0.000000 meters along route # Maximum depth: 1124.558476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.558476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801140; longitude = -121.853474; captureRadius = 10; duration = 117; initialDepth = 1077.126335; finalDepth = 1074.558476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.558476 # Seafloor depth:-1124.558476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1127.126335 meters looking forward 0.000000 meters along route # Maximum depth: 1127.126335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.126335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801969; longitude = -121.852817; captureRadius = 10; duration = 117; initialDepth = 1073.834155; finalDepth = 1077.126335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.126335 # Seafloor depth:-1127.126335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1123.834155 meters looking forward 0.000000 meters along route # Maximum depth: 1123.834155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.834155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802798; longitude = -121.852160; captureRadius = 10; duration = 117; initialDepth = 1074.517013; finalDepth = 1073.834155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.834155 # Seafloor depth:-1123.834155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1124.517013 meters looking forward 0.000000 meters along route # Maximum depth: 1124.517013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.517013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803627; longitude = -121.851503; captureRadius = 10; duration = 117; initialDepth = 1069.369720; finalDepth = 1074.517013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.517013 # Seafloor depth:-1124.517013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1119.369720 meters looking forward 0.000000 meters along route # Maximum depth: 1119.369720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.369720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804456; longitude = -121.850847; captureRadius = 10; duration = 117; initialDepth = 1067.001502; finalDepth = 1069.369720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.36972 # Seafloor depth:-1119.369720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1117.001502 meters looking forward 0.000000 meters along route # Maximum depth: 1117.001502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.001502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805286; longitude = -121.850190; captureRadius = 10; duration = 117; initialDepth = 1063.540910; finalDepth = 1067.001502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.001502 # Seafloor depth:-1117.001502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1113.540910 meters looking forward 0.000000 meters along route # Maximum depth: 1113.540910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.540910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806156; longitude = -121.849501; captureRadius = 10; duration = 117; initialDepth = 1068.504747; finalDepth = 1063.540910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.54091 # Seafloor depth:-1113.540910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1118.504747 meters looking forward 0.000000 meters along route # Maximum depth: 1118.504747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.504747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806944; longitude = -121.848876; captureRadius = 10; duration = 117; initialDepth = 1063.678625; finalDepth = 1068.504747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.504747 # Seafloor depth:-1118.504747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1113.678625 meters looking forward 0.000000 meters along route # Maximum depth: 1113.678625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.678625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807773; longitude = -121.848220; captureRadius = 10; duration = 117; initialDepth = 1059.537224; finalDepth = 1063.678625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.678625 # Seafloor depth:-1113.678625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1109.537224 meters looking forward 0.000000 meters along route # Maximum depth: 1109.537224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.537224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808602; longitude = -121.847563; captureRadius = 10; duration = 117; initialDepth = 1056.026796; finalDepth = 1059.537224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.537224 # Seafloor depth:-1109.537224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1106.026796 meters looking forward 0.000000 meters along route # Maximum depth: 1106.026796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.026796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809432; longitude = -121.846906; captureRadius = 10; duration = 117; initialDepth = 1054.680020; finalDepth = 1056.026796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.026796 # Seafloor depth:-1106.026796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 117.753835 meters # Minimum depth: 1104.680020 meters looking forward 0.000000 meters along route # Maximum depth: 1104.680020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.680020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810344; longitude = -121.846184; captureRadius = 10; duration = 117; initialDepth = 1051.543457; finalDepth = 1054.680020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.68002 # Seafloor depth:-1104.680020 # 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 26 # Segment length 117.753835 meters # Minimum depth: 1101.543457 meters looking forward 0.000000 meters along route # Maximum depth: 1101.543457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.543457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.811274; longitude = -121.845447; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1051.156519; finalDepth = 1051.543457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.543457 # Seafloor depth:-1101.543457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 117.753835 meters # Minimum depth: 1101.156519 meters looking forward 0.000000 meters along route # Maximum depth: 1101.156519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.156519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.811053; longitude = -121.845078; captureRadius = 10; duration = 117; initialDepth = 1053.688151; finalDepth = 1051.156519; 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:1051.156519 # Seafloor depth:-1101.156519 # 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 25 # Segment length 117.753835 meters # Minimum depth: 1103.688151 meters looking forward 0.000000 meters along route # Maximum depth: 1103.688151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.688151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810445; longitude = -121.844065; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1053.911062; finalDepth = 1053.688151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.688151 # Seafloor depth:-1103.688151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.911062 meters looking forward 0.000000 meters along route # Maximum depth: 1103.911062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.911062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809708; longitude = -121.844652; captureRadius = 10; duration = 117; initialDepth = 1059.188162; finalDepth = 1053.911062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.911062 # Seafloor depth:-1103.911062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.188162 meters looking forward 0.000000 meters along route # Maximum depth: 1109.188162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.188162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808826; longitude = -121.845354; captureRadius = 10; duration = 117; initialDepth = 1061.135712; finalDepth = 1059.188162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.188162 # Seafloor depth:-1109.188162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1111.135712 meters looking forward 0.000000 meters along route # Maximum depth: 1111.135712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.135712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808050; longitude = -121.845974; captureRadius = 10; duration = 117; initialDepth = 1060.180346; finalDepth = 1061.135712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.135712 # Seafloor depth:-1111.135712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.180346 meters looking forward 0.000000 meters along route # Maximum depth: 1110.180346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.180346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807220; longitude = -121.846634; captureRadius = 10; duration = 117; initialDepth = 1063.616692; finalDepth = 1060.180346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.180346 # Seafloor depth:-1110.180346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.616692 meters looking forward 0.000000 meters along route # Maximum depth: 1113.616692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.616692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806391; longitude = -121.847295; captureRadius = 10; duration = 117; initialDepth = 1062.107958; finalDepth = 1063.616692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.616692 # Seafloor depth:-1113.616692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.107958 meters looking forward 0.000000 meters along route # Maximum depth: 1112.107958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.107958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805562; longitude = -121.847956; captureRadius = 10; duration = 117; initialDepth = 1065.816953; finalDepth = 1062.107958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.107958 # Seafloor depth:-1112.107958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.816953 meters looking forward 0.000000 meters along route # Maximum depth: 1115.816953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.816953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804664; longitude = -121.848671; captureRadius = 10; duration = 117; initialDepth = 1067.870729; finalDepth = 1065.816953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.816953 # Seafloor depth:-1115.816953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.870729 meters looking forward 0.000000 meters along route # Maximum depth: 1117.870729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.870729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803904; longitude = -121.849277; captureRadius = 10; duration = 117; initialDepth = 1077.794444; finalDepth = 1067.870729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.870729 # Seafloor depth:-1117.870729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1127.794444 meters looking forward 0.000000 meters along route # Maximum depth: 1127.794444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.794444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803074; longitude = -121.849938; captureRadius = 10; duration = 117; initialDepth = 1072.435419; finalDepth = 1077.794444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.794444 # Seafloor depth:-1127.794444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.435419 meters looking forward 0.000000 meters along route # Maximum depth: 1122.435419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.435419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802236; longitude = -121.850606; captureRadius = 10; duration = 117; initialDepth = 1071.396208; finalDepth = 1072.435419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.435419 # Seafloor depth:-1122.435419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.396208 meters looking forward 0.000000 meters along route # Maximum depth: 1121.396208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.396208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801416; longitude = -121.851260; captureRadius = 10; duration = 117; initialDepth = 1074.879556; finalDepth = 1071.396208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.396208 # Seafloor depth:-1121.396208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.879556 meters looking forward 0.000000 meters along route # Maximum depth: 1124.879556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.879556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800587; longitude = -121.851921; captureRadius = 10; duration = 117; initialDepth = 1076.794724; finalDepth = 1074.879556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.879556 # Seafloor depth:-1124.879556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.794724 meters looking forward 0.000000 meters along route # Maximum depth: 1126.794724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.794724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799758; longitude = -121.852581; captureRadius = 10; duration = 117; initialDepth = 1080.267494; finalDepth = 1076.794724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.794724 # Seafloor depth:-1126.794724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.267494 meters looking forward 0.000000 meters along route # Maximum depth: 1130.267494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.267494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798928; longitude = -121.853242; captureRadius = 10; duration = 117; initialDepth = 1081.761417; finalDepth = 1080.267494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.267494 # Seafloor depth:-1130.267494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.761417 meters looking forward 0.000000 meters along route # Maximum depth: 1131.761417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.761417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798074; longitude = -121.853923; captureRadius = 10; duration = 117; initialDepth = 1087.908046; finalDepth = 1081.761417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.761417 # Seafloor depth:-1131.761417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1137.908046 meters looking forward 0.000000 meters along route # Maximum depth: 1137.908046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.908046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797270; longitude = -121.854564; captureRadius = 10; duration = 117; initialDepth = 1082.576385; finalDepth = 1087.908046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.908046 # Seafloor depth:-1137.908046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1132.576385 meters looking forward 0.000000 meters along route # Maximum depth: 1132.576385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.576385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796441; longitude = -121.855224; captureRadius = 10; duration = 117; initialDepth = 1081.182325; finalDepth = 1082.576385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.576385 # Seafloor depth:-1132.576385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.182325 meters looking forward 0.000000 meters along route # Maximum depth: 1131.182325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.182325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795611; longitude = -121.855885; captureRadius = 10; duration = 117; initialDepth = 1079.145933; finalDepth = 1081.182325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.182325 # Seafloor depth:-1131.182325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1129.145933 meters looking forward 0.000000 meters along route # Maximum depth: 1129.145933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.145933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794782; longitude = -121.856546; captureRadius = 10; duration = 117; initialDepth = 1078.540630; finalDepth = 1079.145933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.145933 # Seafloor depth:-1129.145933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.540630 meters looking forward 0.000000 meters along route # Maximum depth: 1128.540630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.540630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793912; longitude = -121.857240; captureRadius = 10; duration = 117; initialDepth = 1079.790573; finalDepth = 1078.540630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.54063 # Seafloor depth:-1128.540630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1129.790573 meters looking forward 0.000000 meters along route # Maximum depth: 1129.790573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.790573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793124; longitude = -121.857868; captureRadius = 10; duration = 117; initialDepth = 1085.328606; finalDepth = 1079.790573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.790573 # Seafloor depth:-1129.790573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1135.328606 meters looking forward 0.000000 meters along route # Maximum depth: 1135.328606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.328606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792295; longitude = -121.858528; captureRadius = 10; duration = 117; initialDepth = 1086.983564; finalDepth = 1085.328606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1085.328606 # Seafloor depth:-1135.328606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1136.983564 meters looking forward 0.000000 meters along route # Maximum depth: 1136.983564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.983564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.859189; captureRadius = 10; duration = 117; initialDepth = 1083.487941; finalDepth = 1086.983564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.983564 # Seafloor depth:-1136.983564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1133.487941 meters looking forward 0.000000 meters along route # Maximum depth: 1133.487941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.487941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790636; longitude = -121.859850; captureRadius = 10; duration = 117; initialDepth = 1076.909866; finalDepth = 1083.487941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.487941 # Seafloor depth:-1133.487941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.909866 meters looking forward 0.000000 meters along route # Maximum depth: 1126.909866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.909866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789749; longitude = -121.860557; captureRadius = 10; duration = 117; initialDepth = 1080.057188; finalDepth = 1076.909866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.909866 # Seafloor depth:-1126.909866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.057188 meters looking forward 0.000000 meters along route # Maximum depth: 1130.057188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.057188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.861171; captureRadius = 10; duration = 117; initialDepth = 1083.909575; finalDepth = 1080.057188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.057188 # Seafloor depth:-1130.057188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1133.909575 meters looking forward 0.000000 meters along route # Maximum depth: 1133.909575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.909575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.861832; captureRadius = 10; duration = 117; initialDepth = 1088.299977; finalDepth = 1083.909575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.909575 # Seafloor depth:-1133.909575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1138.299977 meters looking forward 0.000000 meters along route # Maximum depth: 1138.299977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.299977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.862493; captureRadius = 10; duration = 117; initialDepth = 1076.914363; finalDepth = 1088.299977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.299977 # Seafloor depth:-1138.299977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.914363 meters looking forward 0.000000 meters along route # Maximum depth: 1126.914363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.914363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.863154; captureRadius = 10; duration = 117; initialDepth = 1078.032911; finalDepth = 1076.914363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.914363 # Seafloor depth:-1126.914363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.032911 meters looking forward 0.000000 meters along route # Maximum depth: 1128.032911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.032911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.863815; captureRadius = 10; duration = 117; initialDepth = 1081.263359; finalDepth = 1078.032911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.032911 # Seafloor depth:-1128.032911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.263359 meters looking forward 0.000000 meters along route # Maximum depth: 1131.263359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.263359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.864475; captureRadius = 10; duration = 117; initialDepth = 1083.490273; finalDepth = 1081.263359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.263359 # Seafloor depth:-1131.263359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1133.490273 meters looking forward 0.000000 meters along route # Maximum depth: 1133.490273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.490273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.865136; captureRadius = 10; duration = 117; initialDepth = 1080.208629; finalDepth = 1083.490273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.490273 # Seafloor depth:-1133.490273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.208629 meters looking forward 0.000000 meters along route # Maximum depth: 1130.208629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.208629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783159; longitude = -121.865808; captureRadius = 10; duration = 117; initialDepth = 1079.547975; finalDepth = 1080.208629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.208629 # Seafloor depth:-1130.208629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1129.547975 meters looking forward 0.000000 meters along route # Maximum depth: 1129.547975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.547975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.866458; captureRadius = 10; duration = 117; initialDepth = 1080.766216; finalDepth = 1079.547975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.547975 # Seafloor depth:-1129.547975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.766216 meters looking forward 0.000000 meters along route # Maximum depth: 1130.766216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.766216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.867118; captureRadius = 10; duration = 117; initialDepth = 1079.440597; finalDepth = 1080.766216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.766216 # Seafloor depth:-1130.766216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1129.440597 meters looking forward 0.000000 meters along route # Maximum depth: 1129.440597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.440597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780686; longitude = -121.867779; captureRadius = 10; duration = 117; initialDepth = 1084.170125; finalDepth = 1079.440597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.440597 # Seafloor depth:-1129.440597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1134.170125 meters looking forward 0.000000 meters along route # Maximum depth: 1134.170125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.170125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.868440; captureRadius = 10; duration = 117; initialDepth = 1087.027941; finalDepth = 1084.170125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.170125 # Seafloor depth:-1134.170125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1137.027941 meters looking forward 0.000000 meters along route # Maximum depth: 1137.027941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.027941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778997; longitude = -121.869125; captureRadius = 10; duration = 117; initialDepth = 1087.811904; finalDepth = 1087.027941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.027941 # Seafloor depth:-1137.027941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1137.811904 meters looking forward 0.000000 meters along route # Maximum depth: 1137.811904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.811904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.869762; captureRadius = 10; duration = 117; initialDepth = 1090.509989; finalDepth = 1087.811904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.811904 # Seafloor depth:-1137.811904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1140.509989 meters looking forward 0.000000 meters along route # Maximum depth: 1140.509989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.509989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.870422; captureRadius = 10; duration = 117; initialDepth = 1086.158539; finalDepth = 1090.509989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.509989 # Seafloor depth:-1140.509989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1136.158539 meters looking forward 0.000000 meters along route # Maximum depth: 1136.158539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.158539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776540; longitude = -121.871083; captureRadius = 10; duration = 117; initialDepth = 1077.927416; finalDepth = 1086.158539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.158539 # Seafloor depth:-1136.158539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1127.927416 meters looking forward 0.000000 meters along route # Maximum depth: 1127.927416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.927416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.871744; captureRadius = 10; duration = 117; initialDepth = 1078.002688; finalDepth = 1077.927416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.927416 # Seafloor depth:-1127.927416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.002688 meters looking forward 0.000000 meters along route # Maximum depth: 1128.002688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.002688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774834; longitude = -121.872442; captureRadius = 10; duration = 117; initialDepth = 1079.578566; finalDepth = 1078.002688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.002688 # Seafloor depth:-1128.002688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1129.578566 meters looking forward 0.000000 meters along route # Maximum depth: 1129.578566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.578566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.873065; captureRadius = 10; duration = 117; initialDepth = 1079.904950; finalDepth = 1079.578566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.578566 # Seafloor depth:-1129.578566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1129.904950 meters looking forward 0.000000 meters along route # Maximum depth: 1129.904950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.904950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.873726; captureRadius = 10; duration = 117; initialDepth = 1083.854520; finalDepth = 1079.904950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.90495 # Seafloor depth:-1129.904950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1133.854520 meters looking forward 0.000000 meters along route # Maximum depth: 1133.854520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.854520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772394; longitude = -121.874387; captureRadius = 10; duration = 117; initialDepth = 1085.838776; finalDepth = 1083.854520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.85452 # Seafloor depth:-1133.854520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1135.838776 meters looking forward 0.000000 meters along route # Maximum depth: 1135.838776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.838776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.875048; captureRadius = 10; duration = 117; initialDepth = 1083.650997; finalDepth = 1085.838776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1085.838776 # Seafloor depth:-1135.838776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1133.650997 meters looking forward 0.000000 meters along route # Maximum depth: 1133.650997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.650997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770672; longitude = -121.875759; captureRadius = 10; duration = 117; initialDepth = 1085.658391; finalDepth = 1083.650997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.650997 # Seafloor depth:-1133.650997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1135.658391 meters looking forward 0.000000 meters along route # Maximum depth: 1135.658391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.658391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.876369; captureRadius = 10; duration = 117; initialDepth = 1085.596327; finalDepth = 1085.658391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1085.658391 # Seafloor depth:-1135.658391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1135.596327 meters looking forward 0.000000 meters along route # Maximum depth: 1135.596327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.596327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.877030; captureRadius = 10; duration = 117; initialDepth = 1083.766818; finalDepth = 1085.596327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1085.596327 # Seafloor depth:-1135.596327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1133.766818 meters looking forward 0.000000 meters along route # Maximum depth: 1133.766818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.766818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768244; longitude = -121.877694; captureRadius = 10; duration = 117; initialDepth = 1084.479308; finalDepth = 1083.766818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.766818 # Seafloor depth:-1133.766818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1134.479308 meters looking forward 0.000000 meters along route # Maximum depth: 1134.479308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.479308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.878352; captureRadius = 10; duration = 117; initialDepth = 1088.915644; finalDepth = 1084.479308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.479308 # Seafloor depth:-1134.479308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1138.915644 meters looking forward 0.000000 meters along route # Maximum depth: 1138.915644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.915644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.879012; captureRadius = 10; duration = 117; initialDepth = 1092.533523; finalDepth = 1088.915644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.915644 # Seafloor depth:-1138.915644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1142.533523 meters looking forward 0.000000 meters along route # Maximum depth: 1142.533523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.533523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.879673; captureRadius = 10; duration = 117; initialDepth = 1088.909026; finalDepth = 1092.533523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.533523 # Seafloor depth:-1142.533523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1138.909026 meters looking forward 0.000000 meters along route # Maximum depth: 1138.909026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.909026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.880334; captureRadius = 10; duration = 117; initialDepth = 1093.588452; finalDepth = 1088.909026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.909026 # Seafloor depth:-1138.909026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1143.588452 meters looking forward 0.000000 meters along route # Maximum depth: 1143.588452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.588452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764082; longitude = -121.881011; captureRadius = 10; duration = 117; initialDepth = 1084.031535; finalDepth = 1093.588452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.588452 # Seafloor depth:-1143.588452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1134.031535 meters looking forward 0.000000 meters along route # Maximum depth: 1134.031535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.031535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.881656; captureRadius = 10; duration = 117; initialDepth = 1087.190145; finalDepth = 1084.031535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.031535 # Seafloor depth:-1134.031535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1137.190145 meters looking forward 0.000000 meters along route # Maximum depth: 1137.190145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.190145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.882316; captureRadius = 10; duration = 117; initialDepth = 1084.080500; finalDepth = 1087.190145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.190145 # Seafloor depth:-1137.190145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1134.080500 meters looking forward 0.000000 meters along route # Maximum depth: 1134.080500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.080500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.882977; captureRadius = 10; duration = 117; initialDepth = 1084.065725; finalDepth = 1084.080500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.0805 # Seafloor depth:-1134.080500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1134.065725 meters looking forward 0.000000 meters along route # Maximum depth: 1134.065725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.065725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.883638; captureRadius = 10; duration = 117; initialDepth = 1084.051445; finalDepth = 1084.065725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.065725 # Seafloor depth:-1134.065725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1134.051445 meters looking forward 0.000000 meters along route # Maximum depth: 1134.051445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.051445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759919; longitude = -121.884327; captureRadius = 10; duration = 117; initialDepth = 1082.561898; finalDepth = 1084.051445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.051445 # Seafloor depth:-1134.051445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1132.561898 meters looking forward 0.000000 meters along route # Maximum depth: 1132.561898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.561898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.884959; captureRadius = 10; duration = 117; initialDepth = 1081.602127; finalDepth = 1082.561898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.561898 # Seafloor depth:-1132.561898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.602127 meters looking forward 0.000000 meters along route # Maximum depth: 1131.602127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.602127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758185; longitude = -121.885709; captureRadius = 10; duration = 117; initialDepth = 1081.617432; finalDepth = 1081.602127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.602127 # Seafloor depth:-1131.602127 # 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 24 # Segment length 117.753835 meters # Minimum depth: 1131.617432 meters looking forward 0.000000 meters along route # Maximum depth: 1131.617432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.617432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757376; longitude = -121.886354; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1080.511047; finalDepth = 1081.617432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.617432 # Seafloor depth:-1131.617432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.511047 meters looking forward 0.000000 meters along route # Maximum depth: 1130.511047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.511047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757330; longitude = -121.886262; captureRadius = 10; duration = 117; initialDepth = 1081.594076; finalDepth = 1080.511047; 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:1080.511047 # Seafloor depth:-1130.511047 # 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 23 # Segment length 117.753835 meters # Minimum depth: 1131.594076 meters looking forward 0.000000 meters along route # Maximum depth: 1131.594076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.594076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756731; longitude = -121.885064; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1081.295731; finalDepth = 1081.594076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.594076 # Seafloor depth:-1131.594076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.295731 meters looking forward 0.000000 meters along route # Maximum depth: 1131.295731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.295731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.884477; captureRadius = 10; duration = 117; initialDepth = 1081.463653; finalDepth = 1081.295731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.295731 # Seafloor depth:-1131.295731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.463653 meters looking forward 0.000000 meters along route # Maximum depth: 1131.463653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.463653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758349; longitude = -121.883775; captureRadius = 10; duration = 117; initialDepth = 1079.572685; finalDepth = 1081.463653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.463653 # Seafloor depth:-1131.463653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1129.572685 meters looking forward 0.000000 meters along route # Maximum depth: 1129.572685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.572685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.883156; captureRadius = 10; duration = 117; initialDepth = 1081.091784; finalDepth = 1079.572685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.572685 # Seafloor depth:-1129.572685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.091784 meters looking forward 0.000000 meters along route # Maximum depth: 1131.091784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.091784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.882495; captureRadius = 10; duration = 117; initialDepth = 1083.085088; finalDepth = 1081.091784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.091784 # Seafloor depth:-1131.091784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1133.085088 meters looking forward 0.000000 meters along route # Maximum depth: 1133.085088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.085088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.881834; captureRadius = 10; duration = 117; initialDepth = 1083.474471; finalDepth = 1083.085088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.085088 # Seafloor depth:-1133.085088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1133.474471 meters looking forward 0.000000 meters along route # Maximum depth: 1133.474471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.474471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.881173; captureRadius = 10; duration = 117; initialDepth = 1084.001434; finalDepth = 1083.474471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.474471 # Seafloor depth:-1133.474471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1134.001434 meters looking forward 0.000000 meters along route # Maximum depth: 1134.001434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.001434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762512; longitude = -121.880458; captureRadius = 10; duration = 117; initialDepth = 1084.359980; finalDepth = 1084.001434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.001434 # Seafloor depth:-1134.001434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1134.359980 meters looking forward 0.000000 meters along route # Maximum depth: 1134.359980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.359980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.879852; captureRadius = 10; duration = 117; initialDepth = 1084.914693; finalDepth = 1084.359980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.35998 # Seafloor depth:-1134.359980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1134.914693 meters looking forward 0.000000 meters along route # Maximum depth: 1134.914693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.914693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764101; longitude = -121.879191; captureRadius = 10; duration = 117; initialDepth = 1087.771484; finalDepth = 1084.914693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.914693 # Seafloor depth:-1134.914693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1137.771484 meters looking forward 0.000000 meters along route # Maximum depth: 1137.771484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.771484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764940; longitude = -121.878523; captureRadius = 10; duration = 117; initialDepth = 1085.318246; finalDepth = 1087.771484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.771484 # Seafloor depth:-1137.771484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1135.318246 meters looking forward 0.000000 meters along route # Maximum depth: 1135.318246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.318246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.877869; captureRadius = 10; duration = 117; initialDepth = 1081.580607; finalDepth = 1085.318246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1085.318246 # Seafloor depth:-1135.318246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.580607 meters looking forward 0.000000 meters along route # Maximum depth: 1131.580607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.580607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.877209; captureRadius = 10; duration = 117; initialDepth = 1080.809563; finalDepth = 1081.580607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.580607 # Seafloor depth:-1131.580607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.809563 meters looking forward 0.000000 meters along route # Maximum depth: 1130.809563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.809563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.876548; captureRadius = 10; duration = 117; initialDepth = 1082.639517; finalDepth = 1080.809563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.809563 # Seafloor depth:-1130.809563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1132.639517 meters looking forward 0.000000 meters along route # Maximum depth: 1132.639517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.639517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768247; longitude = -121.875887; captureRadius = 10; duration = 117; initialDepth = 1082.020694; finalDepth = 1082.639517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.639517 # Seafloor depth:-1132.639517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1132.020694 meters looking forward 0.000000 meters along route # Maximum depth: 1132.020694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.020694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769102; longitude = -121.875206; captureRadius = 10; duration = 117; initialDepth = 1083.680341; finalDepth = 1082.020694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.020694 # Seafloor depth:-1132.020694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1133.680341 meters looking forward 0.000000 meters along route # Maximum depth: 1133.680341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.680341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.874565; captureRadius = 10; duration = 117; initialDepth = 1081.962453; finalDepth = 1083.680341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.680341 # Seafloor depth:-1133.680341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.962453 meters looking forward 0.000000 meters along route # Maximum depth: 1131.962453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.962453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.873905; captureRadius = 10; duration = 117; initialDepth = 1082.775595; finalDepth = 1081.962453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.962453 # Seafloor depth:-1131.962453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1132.775595 meters looking forward 0.000000 meters along route # Maximum depth: 1132.775595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.775595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.873244; captureRadius = 10; duration = 117; initialDepth = 1078.462168; finalDepth = 1082.775595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.775595 # Seafloor depth:-1132.775595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.462168 meters looking forward 0.000000 meters along route # Maximum depth: 1128.462168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.462168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772394; longitude = -121.872583; captureRadius = 10; duration = 117; initialDepth = 1078.963136; finalDepth = 1078.462168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.462168 # Seafloor depth:-1128.462168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.963136 meters looking forward 0.000000 meters along route # Maximum depth: 1128.963136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.963136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773264; longitude = -121.871889; captureRadius = 10; duration = 117; initialDepth = 1078.045753; finalDepth = 1078.963136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.963136 # Seafloor depth:-1128.963136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.045753 meters looking forward 0.000000 meters along route # Maximum depth: 1128.045753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.045753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.871262; captureRadius = 10; duration = 117; initialDepth = 1076.313026; finalDepth = 1078.045753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.045753 # Seafloor depth:-1128.045753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.313026 meters looking forward 0.000000 meters along route # Maximum depth: 1126.313026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.313026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.870601; captureRadius = 10; duration = 117; initialDepth = 1080.906623; finalDepth = 1076.313026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.313026 # Seafloor depth:-1126.313026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.906623 meters looking forward 0.000000 meters along route # Maximum depth: 1130.906623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.906623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.869940; captureRadius = 10; duration = 117; initialDepth = 1086.421633; finalDepth = 1080.906623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.906623 # Seafloor depth:-1130.906623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1136.421633 meters looking forward 0.000000 meters along route # Maximum depth: 1136.421633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.421633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776540; longitude = -121.869279; captureRadius = 10; duration = 117; initialDepth = 1087.434155; finalDepth = 1086.421633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.421633 # Seafloor depth:-1136.421633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1137.434155 meters looking forward 0.000000 meters along route # Maximum depth: 1137.434155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.434155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777427; longitude = -121.868572; captureRadius = 10; duration = 117; initialDepth = 1077.115242; finalDepth = 1087.434155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.434155 # Seafloor depth:-1137.434155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1127.115242 meters looking forward 0.000000 meters along route # Maximum depth: 1127.115242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.115242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.867958; captureRadius = 10; duration = 117; initialDepth = 1075.917142; finalDepth = 1077.115242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.115242 # Seafloor depth:-1127.115242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.917142 meters looking forward 0.000000 meters along route # Maximum depth: 1125.917142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.917142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779027; longitude = -121.867297; captureRadius = 10; duration = 117; initialDepth = 1074.605935; finalDepth = 1075.917142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.917142 # Seafloor depth:-1125.917142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.605935 meters looking forward 0.000000 meters along route # Maximum depth: 1124.605935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.605935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.866636; captureRadius = 10; duration = 117; initialDepth = 1076.909086; finalDepth = 1074.605935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.605935 # Seafloor depth:-1124.605935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.909086 meters looking forward 0.000000 meters along route # Maximum depth: 1126.909086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.909086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780686; longitude = -121.865975; captureRadius = 10; duration = 117; initialDepth = 1077.727556; finalDepth = 1076.909086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.909086 # Seafloor depth:-1126.909086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1127.727556 meters looking forward 0.000000 meters along route # Maximum depth: 1127.727556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.727556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.865315; captureRadius = 10; duration = 117; initialDepth = 1078.468814; finalDepth = 1077.727556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.727556 # Seafloor depth:-1127.727556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.468814 meters looking forward 0.000000 meters along route # Maximum depth: 1128.468814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.468814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.864654; captureRadius = 10; duration = 117; initialDepth = 1082.583007; finalDepth = 1078.468814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.468814 # Seafloor depth:-1128.468814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1132.583007 meters looking forward 0.000000 meters along route # Maximum depth: 1132.583007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.583007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.863993; captureRadius = 10; duration = 117; initialDepth = 1082.664785; finalDepth = 1082.583007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.583007 # Seafloor depth:-1132.583007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1132.664785 meters looking forward 0.000000 meters along route # Maximum depth: 1132.664785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.664785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784017; longitude = -121.863321; captureRadius = 10; duration = 117; initialDepth = 1076.427041; finalDepth = 1082.664785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.664785 # Seafloor depth:-1132.664785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.427041 meters looking forward 0.000000 meters along route # Maximum depth: 1126.427041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.427041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.862671; captureRadius = 10; duration = 117; initialDepth = 1075.749555; finalDepth = 1076.427041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.427041 # Seafloor depth:-1126.427041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.749555 meters looking forward 0.000000 meters along route # Maximum depth: 1125.749555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.749555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.862011; captureRadius = 10; duration = 117; initialDepth = 1082.714241; finalDepth = 1075.749555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.749555 # Seafloor depth:-1125.749555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1132.714241 meters looking forward 0.000000 meters along route # Maximum depth: 1132.714241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.714241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.861350; captureRadius = 10; duration = 117; initialDepth = 1084.875003; finalDepth = 1082.714241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.714241 # Seafloor depth:-1132.714241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1134.875003 meters looking forward 0.000000 meters along route # Maximum depth: 1134.875003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.875003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.860689; captureRadius = 10; duration = 117; initialDepth = 1077.643690; finalDepth = 1084.875003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.875003 # Seafloor depth:-1134.875003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1127.643690 meters looking forward 0.000000 meters along route # Maximum depth: 1127.643690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.643690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788179; longitude = -121.860004; captureRadius = 10; duration = 117; initialDepth = 1077.991793; finalDepth = 1077.643690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.64369 # Seafloor depth:-1127.643690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1127.991793 meters looking forward 0.000000 meters along route # Maximum depth: 1127.991793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.991793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.859368; captureRadius = 10; duration = 117; initialDepth = 1080.247033; finalDepth = 1077.991793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.991793 # Seafloor depth:-1127.991793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.247033 meters looking forward 0.000000 meters along route # Maximum depth: 1130.247033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.247033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.858707; captureRadius = 10; duration = 117; initialDepth = 1087.779073; finalDepth = 1080.247033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.247033 # Seafloor depth:-1130.247033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1137.779073 meters looking forward 0.000000 meters along route # Maximum depth: 1137.779073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.779073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790636; longitude = -121.858046; captureRadius = 10; duration = 117; initialDepth = 1081.656289; finalDepth = 1087.779073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.779073 # Seafloor depth:-1137.779073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.656289 meters looking forward 0.000000 meters along route # Maximum depth: 1131.656289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.656289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.857385; captureRadius = 10; duration = 117; initialDepth = 1075.432856; finalDepth = 1081.656289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.656289 # Seafloor depth:-1131.656289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.432856 meters looking forward 0.000000 meters along route # Maximum depth: 1125.432856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.432856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792342; longitude = -121.856687; captureRadius = 10; duration = 117; initialDepth = 1075.507226; finalDepth = 1075.432856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.432856 # Seafloor depth:-1125.432856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.507226 meters looking forward 0.000000 meters along route # Maximum depth: 1125.507226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.507226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793124; longitude = -121.856064; captureRadius = 10; duration = 117; initialDepth = 1074.095108; finalDepth = 1075.507226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.507226 # Seafloor depth:-1125.507226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.095108 meters looking forward 0.000000 meters along route # Maximum depth: 1124.095108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.095108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793953; longitude = -121.855403; captureRadius = 10; duration = 117; initialDepth = 1076.230191; finalDepth = 1074.095108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.095108 # Seafloor depth:-1124.095108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.230191 meters looking forward 0.000000 meters along route # Maximum depth: 1126.230191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.230191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794782; longitude = -121.854742; captureRadius = 10; duration = 117; initialDepth = 1080.633820; finalDepth = 1076.230191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.230191 # Seafloor depth:-1126.230191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.633820 meters looking forward 0.000000 meters along route # Maximum depth: 1130.633820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.633820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795611; longitude = -121.854081; captureRadius = 10; duration = 117; initialDepth = 1085.706521; finalDepth = 1080.633820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.63382 # Seafloor depth:-1130.633820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1135.706521 meters looking forward 0.000000 meters along route # Maximum depth: 1135.706521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.706521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796504; longitude = -121.853370; captureRadius = 10; duration = 117; initialDepth = 1086.262863; finalDepth = 1085.706521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1085.706521 # Seafloor depth:-1135.706521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1136.262863 meters looking forward 0.000000 meters along route # Maximum depth: 1136.262863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.262863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797270; longitude = -121.852760; captureRadius = 10; duration = 117; initialDepth = 1078.315116; finalDepth = 1086.262863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.262863 # Seafloor depth:-1136.262863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.315116 meters looking forward 0.000000 meters along route # Maximum depth: 1128.315116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.315116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798099; longitude = -121.852099; captureRadius = 10; duration = 117; initialDepth = 1078.066820; finalDepth = 1078.315116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.315116 # Seafloor depth:-1128.315116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.066820 meters looking forward 0.000000 meters along route # Maximum depth: 1128.066820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.066820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798932; longitude = -121.851435; captureRadius = 10; duration = 117; initialDepth = 1075.416648; finalDepth = 1078.066820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.06682 # Seafloor depth:-1128.066820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.416648 meters looking forward 0.000000 meters along route # Maximum depth: 1125.416648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.416648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799758; longitude = -121.850777; captureRadius = 10; duration = 117; initialDepth = 1071.126839; finalDepth = 1075.416648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.416648 # Seafloor depth:-1125.416648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.126839 meters looking forward 0.000000 meters along route # Maximum depth: 1121.126839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.126839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800587; longitude = -121.850117; captureRadius = 10; duration = 117; initialDepth = 1075.187731; finalDepth = 1071.126839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.126839 # Seafloor depth:-1121.126839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.187731 meters looking forward 0.000000 meters along route # Maximum depth: 1125.187731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.187731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801416; longitude = -121.849456; captureRadius = 10; duration = 117; initialDepth = 1070.462177; finalDepth = 1075.187731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.187731 # Seafloor depth:-1125.187731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1120.462177 meters looking forward 0.000000 meters along route # Maximum depth: 1120.462177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.462177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802245; longitude = -121.848795; captureRadius = 10; duration = 117; initialDepth = 1067.084148; finalDepth = 1070.462177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.462177 # Seafloor depth:-1120.462177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.084148 meters looking forward 0.000000 meters along route # Maximum depth: 1117.084148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.084148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803094; longitude = -121.848119; captureRadius = 10; duration = 117; initialDepth = 1063.377116; finalDepth = 1067.084148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.084148 # Seafloor depth:-1117.084148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.377116 meters looking forward 0.000000 meters along route # Maximum depth: 1113.377116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.377116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803904; longitude = -121.847474; captureRadius = 10; duration = 117; initialDepth = 1059.276406; finalDepth = 1063.377116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.377116 # Seafloor depth:-1113.377116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.276406 meters looking forward 0.000000 meters along route # Maximum depth: 1109.276406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.276406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804733; longitude = -121.846813; captureRadius = 10; duration = 117; initialDepth = 1063.035376; finalDepth = 1059.276406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.276406 # Seafloor depth:-1109.276406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.035376 meters looking forward 0.000000 meters along route # Maximum depth: 1113.035376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.035376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805562; longitude = -121.846152; captureRadius = 10; duration = 117; initialDepth = 1058.186387; finalDepth = 1063.035376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.035376 # Seafloor depth:-1113.035376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1108.186387 meters looking forward 0.000000 meters along route # Maximum depth: 1108.186387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.186387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806391; longitude = -121.845491; captureRadius = 10; duration = 117; initialDepth = 1058.250656; finalDepth = 1058.186387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.186387 # Seafloor depth:-1108.186387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1108.250656 meters looking forward 0.000000 meters along route # Maximum depth: 1108.250656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.250656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807257; longitude = -121.844802; captureRadius = 10; duration = 117; initialDepth = 1056.342808; finalDepth = 1058.250656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.250656 # Seafloor depth:-1108.250656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.342808 meters looking forward 0.000000 meters along route # Maximum depth: 1106.342808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.342808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808050; longitude = -121.844170; captureRadius = 10; duration = 117; initialDepth = 1055.616472; finalDepth = 1056.342808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.342808 # Seafloor depth:-1106.342808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.616472 meters looking forward 0.000000 meters along route # Maximum depth: 1105.616472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.616472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808991; longitude = -121.843420; captureRadius = 10; duration = 117; initialDepth = 1060.554525; finalDepth = 1055.616472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.616472 # Seafloor depth:-1105.616472 # 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 22 # Segment length 117.753835 meters # Minimum depth: 1110.554525 meters looking forward 0.000000 meters along route # Maximum depth: 1110.554525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.554525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809800; longitude = -121.842775; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1058.107788; finalDepth = 1060.554525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.554525 # Seafloor depth:-1110.554525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1108.107788 meters looking forward 0.000000 meters along route # Maximum depth: 1108.107788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.107788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809570; longitude = -121.842314; captureRadius = 10; duration = 117; initialDepth = 1050.585693; finalDepth = 1058.107788; 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:1058.107788 # Seafloor depth:-1108.107788 # 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 117.753835 meters # Minimum depth: 1100.585693 meters looking forward 0.000000 meters along route # Maximum depth: 1100.585693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.585693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809063; longitude = -121.841301; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1050.825073; finalDepth = 1050.585693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.585693 # Seafloor depth:-1100.585693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1100.825073 meters looking forward 0.000000 meters along route # Maximum depth: 1100.825073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.825073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808326; longitude = -121.841892; captureRadius = 10; duration = 117; initialDepth = 1051.757631; finalDepth = 1050.825073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.825073 # Seafloor depth:-1100.825073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1101.757631 meters looking forward 0.000000 meters along route # Maximum depth: 1101.757631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.757631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807455; longitude = -121.842590; captureRadius = 10; duration = 117; initialDepth = 1049.832356; finalDepth = 1051.757631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.757631 # Seafloor depth:-1101.757631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1099.832356 meters looking forward 0.000000 meters along route # Maximum depth: 1099.832356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.832356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806668; longitude = -121.843222; captureRadius = 10; duration = 117; initialDepth = 1054.265625; finalDepth = 1049.832356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.832356 # Seafloor depth:-1099.832356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.265625 meters looking forward 0.000000 meters along route # Maximum depth: 1104.265625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.265625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805838; longitude = -121.843887; captureRadius = 10; duration = 117; initialDepth = 1055.237008; finalDepth = 1054.265625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.265625 # Seafloor depth:-1104.265625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.237008 meters looking forward 0.000000 meters along route # Maximum depth: 1105.237008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.237008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805009; longitude = -121.844552; captureRadius = 10; duration = 117; initialDepth = 1054.554117; finalDepth = 1055.237008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.237008 # Seafloor depth:-1105.237008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.554117 meters looking forward 0.000000 meters along route # Maximum depth: 1104.554117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.554117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804180; longitude = -121.845217; captureRadius = 10; duration = 117; initialDepth = 1059.726586; finalDepth = 1054.554117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.554117 # Seafloor depth:-1104.554117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.726586 meters looking forward 0.000000 meters along route # Maximum depth: 1109.726586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.726586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803320; longitude = -121.845907; captureRadius = 10; duration = 117; initialDepth = 1062.313353; finalDepth = 1059.726586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.726586 # Seafloor depth:-1109.726586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.313353 meters looking forward 0.000000 meters along route # Maximum depth: 1112.313353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.313353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802522; longitude = -121.846547; captureRadius = 10; duration = 117; initialDepth = 1067.234348; finalDepth = 1062.313353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.313353 # Seafloor depth:-1112.313353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.234348 meters looking forward 0.000000 meters along route # Maximum depth: 1117.234348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.234348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801692; longitude = -121.847213; captureRadius = 10; duration = 117; initialDepth = 1070.226523; finalDepth = 1067.234348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.234348 # Seafloor depth:-1117.234348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1120.226523 meters looking forward 0.000000 meters along route # Maximum depth: 1120.226523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.226523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800863; longitude = -121.847878; captureRadius = 10; duration = 117; initialDepth = 1073.476080; finalDepth = 1070.226523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.226523 # Seafloor depth:-1120.226523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.476080 meters looking forward 0.000000 meters along route # Maximum depth: 1123.476080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.476080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800034; longitude = -121.848543; captureRadius = 10; duration = 117; initialDepth = 1073.289768; finalDepth = 1073.476080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.47608 # Seafloor depth:-1123.476080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.289768 meters looking forward 0.000000 meters along route # Maximum depth: 1123.289768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.289768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799184; longitude = -121.849224; captureRadius = 10; duration = 117; initialDepth = 1072.974404; finalDepth = 1073.289768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.289768 # Seafloor depth:-1123.289768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.974404 meters looking forward 0.000000 meters along route # Maximum depth: 1122.974404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.974404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798376; longitude = -121.849873; captureRadius = 10; duration = 117; initialDepth = 1071.573712; finalDepth = 1072.974404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.974404 # Seafloor depth:-1122.974404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.573712 meters looking forward 0.000000 meters along route # Maximum depth: 1121.573712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.573712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797546; longitude = -121.850538; captureRadius = 10; duration = 117; initialDepth = 1076.321418; finalDepth = 1071.573712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.573712 # Seafloor depth:-1121.573712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.321418 meters looking forward 0.000000 meters along route # Maximum depth: 1126.321418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.321418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796717; longitude = -121.851203; captureRadius = 10; duration = 117; initialDepth = 1077.661480; finalDepth = 1076.321418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.321418 # Seafloor depth:-1126.321418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1127.661480 meters looking forward 0.000000 meters along route # Maximum depth: 1127.661480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.661480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795888; longitude = -121.851868; captureRadius = 10; duration = 117; initialDepth = 1074.494572; finalDepth = 1077.661480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.66148 # Seafloor depth:-1127.661480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.494572 meters looking forward 0.000000 meters along route # Maximum depth: 1124.494572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.494572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795049; longitude = -121.852541; captureRadius = 10; duration = 117; initialDepth = 1073.135547; finalDepth = 1074.494572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.494572 # Seafloor depth:-1124.494572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.135547 meters looking forward 0.000000 meters along route # Maximum depth: 1123.135547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.135547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794229; longitude = -121.853198; captureRadius = 10; duration = 117; initialDepth = 1071.571061; finalDepth = 1073.135547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.135547 # Seafloor depth:-1123.135547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.571061 meters looking forward 0.000000 meters along route # Maximum depth: 1121.571061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.571061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793326; longitude = -121.853923; captureRadius = 10; duration = 117; initialDepth = 1070.917064; finalDepth = 1071.571061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.571061 # Seafloor depth:-1121.571061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1120.917064 meters looking forward 0.000000 meters along route # Maximum depth: 1120.917064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.917064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792571; longitude = -121.854529; captureRadius = 10; duration = 117; initialDepth = 1071.648855; finalDepth = 1070.917064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.917064 # Seafloor depth:-1120.917064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.648855 meters looking forward 0.000000 meters along route # Maximum depth: 1121.648855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.648855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791742; longitude = -121.855194; captureRadius = 10; duration = 117; initialDepth = 1078.401557; finalDepth = 1071.648855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.648855 # Seafloor depth:-1121.648855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.401557 meters looking forward 0.000000 meters along route # Maximum depth: 1128.401557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.401557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790913; longitude = -121.855859; captureRadius = 10; duration = 117; initialDepth = 1080.414301; finalDepth = 1078.401557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.401557 # Seafloor depth:-1128.401557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.414301 meters looking forward 0.000000 meters along route # Maximum depth: 1130.414301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.414301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.856524; captureRadius = 10; duration = 117; initialDepth = 1076.325297; finalDepth = 1080.414301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.414301 # Seafloor depth:-1130.414301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.325297 meters looking forward 0.000000 meters along route # Maximum depth: 1126.325297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.325297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789191; longitude = -121.857240; captureRadius = 10; duration = 117; initialDepth = 1074.673977; finalDepth = 1076.325297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.325297 # Seafloor depth:-1126.325297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.673977 meters looking forward 0.000000 meters along route # Maximum depth: 1124.673977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.673977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788425; longitude = -121.857854; captureRadius = 10; duration = 117; initialDepth = 1074.567184; finalDepth = 1074.673977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.673977 # Seafloor depth:-1124.673977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.567184 meters looking forward 0.000000 meters along route # Maximum depth: 1124.567184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.567184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787596; longitude = -121.858519; captureRadius = 10; duration = 117; initialDepth = 1082.693200; finalDepth = 1074.567184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.567184 # Seafloor depth:-1124.567184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1132.693200 meters looking forward 0.000000 meters along route # Maximum depth: 1132.693200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.693200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.859184; captureRadius = 10; duration = 117; initialDepth = 1081.276510; finalDepth = 1082.693200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.6932 # Seafloor depth:-1132.693200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.276510 meters looking forward 0.000000 meters along route # Maximum depth: 1131.276510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.276510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.859849; captureRadius = 10; duration = 117; initialDepth = 1071.321120; finalDepth = 1081.276510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.27651 # Seafloor depth:-1131.276510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.321120 meters looking forward 0.000000 meters along route # Maximum depth: 1121.321120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.321120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785055; longitude = -121.860557; captureRadius = 10; duration = 117; initialDepth = 1073.459776; finalDepth = 1071.321120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.32112 # Seafloor depth:-1121.321120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.459776 meters looking forward 0.000000 meters along route # Maximum depth: 1123.459776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.459776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.861180; captureRadius = 10; duration = 117; initialDepth = 1077.264376; finalDepth = 1073.459776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.459776 # Seafloor depth:-1123.459776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1127.264376 meters looking forward 0.000000 meters along route # Maximum depth: 1127.264376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.264376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783450; longitude = -121.861845; captureRadius = 10; duration = 117; initialDepth = 1079.423881; finalDepth = 1077.264376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.264376 # Seafloor depth:-1127.264376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1129.423881 meters looking forward 0.000000 meters along route # Maximum depth: 1129.423881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.423881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.862510; captureRadius = 10; duration = 117; initialDepth = 1075.595839; finalDepth = 1079.423881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.423881 # Seafloor depth:-1129.423881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.595839 meters looking forward 0.000000 meters along route # Maximum depth: 1125.595839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.595839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.863175; captureRadius = 10; duration = 117; initialDepth = 1075.711097; finalDepth = 1075.595839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.595839 # Seafloor depth:-1125.595839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.711097 meters looking forward 0.000000 meters along route # Maximum depth: 1125.711097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.711097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780920; longitude = -121.863874; captureRadius = 10; duration = 117; initialDepth = 1077.261768; finalDepth = 1075.711097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.711097 # Seafloor depth:-1125.711097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1127.261768 meters looking forward 0.000000 meters along route # Maximum depth: 1127.261768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.261768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780133; longitude = -121.864505; captureRadius = 10; duration = 117; initialDepth = 1074.537426; finalDepth = 1077.261768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.261768 # Seafloor depth:-1127.261768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.537426 meters looking forward 0.000000 meters along route # Maximum depth: 1124.537426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.537426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779304; longitude = -121.865170; captureRadius = 10; duration = 117; initialDepth = 1072.591632; finalDepth = 1074.537426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.537426 # Seafloor depth:-1124.537426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.591632 meters looking forward 0.000000 meters along route # Maximum depth: 1122.591632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.591632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.865835; captureRadius = 10; duration = 117; initialDepth = 1074.477244; finalDepth = 1072.591632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.591632 # Seafloor depth:-1122.591632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.477244 meters looking forward 0.000000 meters along route # Maximum depth: 1124.477244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.477244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.866500; captureRadius = 10; duration = 117; initialDepth = 1088.076723; finalDepth = 1074.477244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.477244 # Seafloor depth:-1124.477244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1138.076723 meters looking forward 0.000000 meters along route # Maximum depth: 1138.076723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.076723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776785; longitude = -121.867190; captureRadius = 10; duration = 117; initialDepth = 1080.918509; finalDepth = 1088.076723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.076723 # Seafloor depth:-1138.076723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.918509 meters looking forward 0.000000 meters along route # Maximum depth: 1130.918509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.918509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.867831; captureRadius = 10; duration = 117; initialDepth = 1078.774712; finalDepth = 1080.918509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.918509 # Seafloor depth:-1130.918509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.774712 meters looking forward 0.000000 meters along route # Maximum depth: 1128.774712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.774712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775158; longitude = -121.868496; captureRadius = 10; duration = 117; initialDepth = 1077.026377; finalDepth = 1078.774712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.774712 # Seafloor depth:-1128.774712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1127.026377 meters looking forward 0.000000 meters along route # Maximum depth: 1127.026377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.026377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774328; longitude = -121.869161; captureRadius = 10; duration = 117; initialDepth = 1071.894877; finalDepth = 1077.026377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.026377 # Seafloor depth:-1127.026377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.894877 meters looking forward 0.000000 meters along route # Maximum depth: 1121.894877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.894877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.869826; captureRadius = 10; duration = 117; initialDepth = 1076.866940; finalDepth = 1071.894877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.894877 # Seafloor depth:-1121.894877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.866940 meters looking forward 0.000000 meters along route # Maximum depth: 1126.866940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.866940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772650; longitude = -121.870507; captureRadius = 10; duration = 117; initialDepth = 1076.674289; finalDepth = 1076.866940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.86694 # Seafloor depth:-1126.866940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.674289 meters looking forward 0.000000 meters along route # Maximum depth: 1126.674289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.674289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771841; longitude = -121.871156; captureRadius = 10; duration = 117; initialDepth = 1080.088434; finalDepth = 1076.674289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.674289 # Seafloor depth:-1126.674289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.088434 meters looking forward 0.000000 meters along route # Maximum depth: 1130.088434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.088434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771012; longitude = -121.871821; captureRadius = 10; duration = 117; initialDepth = 1078.883822; finalDepth = 1080.088434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.088434 # Seafloor depth:-1130.088434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.883822 meters looking forward 0.000000 meters along route # Maximum depth: 1128.883822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.883822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770182; longitude = -121.872486; captureRadius = 10; duration = 117; initialDepth = 1079.975898; finalDepth = 1078.883822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.883822 # Seafloor depth:-1128.883822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1129.975898 meters looking forward 0.000000 meters along route # Maximum depth: 1129.975898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.975898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769353; longitude = -121.873151; captureRadius = 10; duration = 117; initialDepth = 1076.191502; finalDepth = 1079.975898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.975898 # Seafloor depth:-1129.975898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.191502 meters looking forward 0.000000 meters along route # Maximum depth: 1126.191502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.191502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768514; longitude = -121.873824; captureRadius = 10; duration = 117; initialDepth = 1079.603744; finalDepth = 1076.191502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.191502 # Seafloor depth:-1126.191502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1129.603744 meters looking forward 0.000000 meters along route # Maximum depth: 1129.603744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.603744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767695; longitude = -121.874481; captureRadius = 10; duration = 117; initialDepth = 1081.098461; finalDepth = 1079.603744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.603744 # Seafloor depth:-1129.603744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.098461 meters looking forward 0.000000 meters along route # Maximum depth: 1131.098461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.098461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766791; longitude = -121.875206; captureRadius = 10; duration = 117; initialDepth = 1080.483679; finalDepth = 1081.098461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.098461 # Seafloor depth:-1131.098461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.483679 meters looking forward 0.000000 meters along route # Maximum depth: 1130.483679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.483679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766036; longitude = -121.875812; captureRadius = 10; duration = 117; initialDepth = 1081.403437; finalDepth = 1080.483679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.483679 # Seafloor depth:-1130.483679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.403437 meters looking forward 0.000000 meters along route # Maximum depth: 1131.403437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.403437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765207; longitude = -121.876477; captureRadius = 10; duration = 117; initialDepth = 1081.537569; finalDepth = 1081.403437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.403437 # Seafloor depth:-1131.403437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.537569 meters looking forward 0.000000 meters along route # Maximum depth: 1131.537569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.537569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.877142; captureRadius = 10; duration = 117; initialDepth = 1081.013100; finalDepth = 1081.537569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.537569 # Seafloor depth:-1131.537569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.013100 meters looking forward 0.000000 meters along route # Maximum depth: 1131.013100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.013100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763549; longitude = -121.877807; captureRadius = 10; duration = 117; initialDepth = 1082.306309; finalDepth = 1081.013100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.0131 # Seafloor depth:-1131.013100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1132.306309 meters looking forward 0.000000 meters along route # Maximum depth: 1132.306309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.306309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762656; longitude = -121.878523; captureRadius = 10; duration = 117; initialDepth = 1081.122681; finalDepth = 1082.306309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.306309 # Seafloor depth:-1132.306309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.122681 meters looking forward 0.000000 meters along route # Maximum depth: 1131.122681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.122681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761890; longitude = -121.879137; captureRadius = 10; duration = 117; initialDepth = 1079.691203; finalDepth = 1081.122681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.122681 # Seafloor depth:-1131.122681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1129.691203 meters looking forward 0.000000 meters along route # Maximum depth: 1129.691203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.691203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761061; longitude = -121.879802; captureRadius = 10; duration = 117; initialDepth = 1080.841380; finalDepth = 1079.691203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.691203 # Seafloor depth:-1129.691203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.841380 meters looking forward 0.000000 meters along route # Maximum depth: 1130.841380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.841380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.880467; captureRadius = 10; duration = 117; initialDepth = 1077.591330; finalDepth = 1080.841380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.84138 # Seafloor depth:-1130.841380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1127.591330 meters looking forward 0.000000 meters along route # Maximum depth: 1127.591330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.591330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.881132; captureRadius = 10; duration = 117; initialDepth = 1080.315209; finalDepth = 1077.591330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.59133 # Seafloor depth:-1127.591330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.315209 meters looking forward 0.000000 meters along route # Maximum depth: 1130.315209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.315209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758521; longitude = -121.881840; captureRadius = 10; duration = 117; initialDepth = 1079.191793; finalDepth = 1080.315209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.315209 # Seafloor depth:-1130.315209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1129.191793 meters looking forward 0.000000 meters along route # Maximum depth: 1129.191793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.191793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.882463; captureRadius = 10; duration = 117; initialDepth = 1078.866688; finalDepth = 1079.191793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.191793 # Seafloor depth:-1129.191793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.866688 meters looking forward 0.000000 meters along route # Maximum depth: 1128.866688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.866688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756798; longitude = -121.883222; captureRadius = 10; duration = 117; initialDepth = 1078.587728; finalDepth = 1078.866688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.866688 # Seafloor depth:-1128.866688 # 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 117.753835 meters # Minimum depth: 1128.587728 meters looking forward 0.000000 meters along route # Maximum depth: 1128.587728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.587728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755994; longitude = -121.883867; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1078.893049; finalDepth = 1078.587728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.587728 # Seafloor depth:-1128.587728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.893049 meters looking forward 0.000000 meters along route # Maximum depth: 1128.893049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.893049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.883419; captureRadius = 10; duration = 117; initialDepth = 1075.724121; finalDepth = 1078.893049; 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:1078.893049 # Seafloor depth:-1128.893049 # 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 117.753835 meters # Minimum depth: 1125.724121 meters looking forward 0.000000 meters along route # Maximum depth: 1125.724121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.724121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755349; longitude = -121.882300; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1076.923400; finalDepth = 1075.724121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.724121 # Seafloor depth:-1125.724121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.923400 meters looking forward 0.000000 meters along route # Maximum depth: 1126.923400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.923400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.881931; captureRadius = 10; duration = 117; initialDepth = 1086.240059; finalDepth = 1076.923400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.9234 # Seafloor depth:-1126.923400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1136.240059 meters looking forward 0.000000 meters along route # Maximum depth: 1136.240059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.240059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.881267; captureRadius = 10; duration = 117; initialDepth = 1083.413083; finalDepth = 1086.240059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.240059 # Seafloor depth:-1136.240059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1133.413083 meters looking forward 0.000000 meters along route # Maximum depth: 1133.413083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.413083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.880602; captureRadius = 10; duration = 117; initialDepth = 1081.394611; finalDepth = 1083.413083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.413083 # Seafloor depth:-1133.413083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.394611 meters looking forward 0.000000 meters along route # Maximum depth: 1131.394611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.394611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758338; longitude = -121.879905; captureRadius = 10; duration = 117; initialDepth = 1076.506260; finalDepth = 1081.394611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.394611 # Seafloor depth:-1131.394611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.506260 meters looking forward 0.000000 meters along route # Maximum depth: 1126.506260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.506260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.879273; captureRadius = 10; duration = 117; initialDepth = 1075.112685; finalDepth = 1076.506260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.50626 # Seafloor depth:-1126.506260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.112685 meters looking forward 0.000000 meters along route # Maximum depth: 1125.112685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.112685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.878609; captureRadius = 10; duration = 117; initialDepth = 1075.875056; finalDepth = 1075.112685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.112685 # Seafloor depth:-1125.112685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.875056 meters looking forward 0.000000 meters along route # Maximum depth: 1125.875056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.875056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.877944; captureRadius = 10; duration = 117; initialDepth = 1076.073694; finalDepth = 1075.875056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.875056 # Seafloor depth:-1125.875056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.073694 meters looking forward 0.000000 meters along route # Maximum depth: 1126.073694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.073694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.877280; captureRadius = 10; duration = 117; initialDepth = 1076.027656; finalDepth = 1076.073694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.073694 # Seafloor depth:-1126.073694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.027656 meters looking forward 0.000000 meters along route # Maximum depth: 1126.027656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.027656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762477; longitude = -121.876588; captureRadius = 10; duration = 117; initialDepth = 1078.790706; finalDepth = 1076.027656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.027656 # Seafloor depth:-1126.027656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.790706 meters looking forward 0.000000 meters along route # Maximum depth: 1128.790706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.790706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.875951; captureRadius = 10; duration = 117; initialDepth = 1076.226719; finalDepth = 1078.790706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.790706 # Seafloor depth:-1128.790706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.226719 meters looking forward 0.000000 meters along route # Maximum depth: 1126.226719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.226719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764101; longitude = -121.875286; captureRadius = 10; duration = 117; initialDepth = 1079.309240; finalDepth = 1076.226719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.226719 # Seafloor depth:-1126.226719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1129.309240 meters looking forward 0.000000 meters along route # Maximum depth: 1129.309240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.309240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.874622; captureRadius = 10; duration = 117; initialDepth = 1081.257127; finalDepth = 1079.309240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.30924 # Seafloor depth:-1129.309240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1131.257127 meters looking forward 0.000000 meters along route # Maximum depth: 1131.257127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.257127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.873957; captureRadius = 10; duration = 117; initialDepth = 1078.604959; finalDepth = 1081.257127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.257127 # Seafloor depth:-1131.257127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.604959 meters looking forward 0.000000 meters along route # Maximum depth: 1128.604959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.604959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766616; longitude = -121.873271; captureRadius = 10; duration = 117; initialDepth = 1076.845084; finalDepth = 1078.604959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.604959 # Seafloor depth:-1128.604959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.845084 meters looking forward 0.000000 meters along route # Maximum depth: 1126.845084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.845084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.872628; captureRadius = 10; duration = 117; initialDepth = 1076.310934; finalDepth = 1076.845084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.845084 # Seafloor depth:-1126.845084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.310934 meters looking forward 0.000000 meters along route # Maximum depth: 1126.310934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.310934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768247; longitude = -121.871963; captureRadius = 10; duration = 117; initialDepth = 1078.353290; finalDepth = 1076.310934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.310934 # Seafloor depth:-1126.310934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.353290 meters looking forward 0.000000 meters along route # Maximum depth: 1128.353290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.353290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.871299; captureRadius = 10; duration = 117; initialDepth = 1079.483068; finalDepth = 1078.353290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.35329 # Seafloor depth:-1128.353290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1129.483068 meters looking forward 0.000000 meters along route # Maximum depth: 1129.483068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.483068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.870634; captureRadius = 10; duration = 117; initialDepth = 1073.693826; finalDepth = 1079.483068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.483068 # Seafloor depth:-1129.483068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.693826 meters looking forward 0.000000 meters along route # Maximum depth: 1123.693826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.693826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770754; longitude = -121.869954; captureRadius = 10; duration = 117; initialDepth = 1075.241051; finalDepth = 1073.693826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.693826 # Seafloor depth:-1123.693826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.241051 meters looking forward 0.000000 meters along route # Maximum depth: 1125.241051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.241051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.869305; captureRadius = 10; duration = 117; initialDepth = 1074.133594; finalDepth = 1075.241051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.241051 # Seafloor depth:-1125.241051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.133594 meters looking forward 0.000000 meters along route # Maximum depth: 1124.133594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.133594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772394; longitude = -121.868641; captureRadius = 10; duration = 117; initialDepth = 1074.897710; finalDepth = 1074.133594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.133594 # Seafloor depth:-1124.133594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.897710 meters looking forward 0.000000 meters along route # Maximum depth: 1124.897710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.897710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.867976; captureRadius = 10; duration = 117; initialDepth = 1074.865845; finalDepth = 1074.897710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.89771 # Seafloor depth:-1124.897710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.865845 meters looking forward 0.000000 meters along route # Maximum depth: 1124.865845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.865845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.867312; captureRadius = 10; duration = 117; initialDepth = 1073.368424; finalDepth = 1074.865845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.865845 # Seafloor depth:-1124.865845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.368424 meters looking forward 0.000000 meters along route # Maximum depth: 1123.368424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.368424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774893; longitude = -121.866638; captureRadius = 10; duration = 117; initialDepth = 1083.821825; finalDepth = 1073.368424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.368424 # Seafloor depth:-1123.368424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1133.821825 meters looking forward 0.000000 meters along route # Maximum depth: 1133.821825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.821825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.865983; captureRadius = 10; duration = 117; initialDepth = 1080.969114; finalDepth = 1083.821825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.821825 # Seafloor depth:-1133.821825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.969114 meters looking forward 0.000000 meters along route # Maximum depth: 1130.969114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.969114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776540; longitude = -121.865318; captureRadius = 10; duration = 117; initialDepth = 1072.977931; finalDepth = 1080.969114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.969114 # Seafloor depth:-1130.969114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.977931 meters looking forward 0.000000 meters along route # Maximum depth: 1122.977931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.977931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.864654; captureRadius = 10; duration = 117; initialDepth = 1073.584852; finalDepth = 1072.977931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.977931 # Seafloor depth:-1122.977931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.584852 meters looking forward 0.000000 meters along route # Maximum depth: 1123.584852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.584852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.863989; captureRadius = 10; duration = 117; initialDepth = 1073.771501; finalDepth = 1073.584852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.584852 # Seafloor depth:-1123.584852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.771501 meters looking forward 0.000000 meters along route # Maximum depth: 1123.771501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.771501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779032; longitude = -121.863321; captureRadius = 10; duration = 117; initialDepth = 1074.689971; finalDepth = 1073.771501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.771501 # Seafloor depth:-1123.771501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.689971 meters looking forward 0.000000 meters along route # Maximum depth: 1124.689971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.689971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.862660; captureRadius = 10; duration = 117; initialDepth = 1072.597489; finalDepth = 1074.689971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.689971 # Seafloor depth:-1124.689971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.597489 meters looking forward 0.000000 meters along route # Maximum depth: 1122.597489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.597489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780757; longitude = -121.861939; captureRadius = 10; duration = 117; initialDepth = 1073.114539; finalDepth = 1072.597489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.597489 # Seafloor depth:-1122.597489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.114539 meters looking forward 0.000000 meters along route # Maximum depth: 1123.114539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.114539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.861331; captureRadius = 10; duration = 117; initialDepth = 1073.800047; finalDepth = 1073.114539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.114539 # Seafloor depth:-1123.114539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.800047 meters looking forward 0.000000 meters along route # Maximum depth: 1123.800047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.800047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.860666; captureRadius = 10; duration = 117; initialDepth = 1073.625534; finalDepth = 1073.800047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.800047 # Seafloor depth:-1123.800047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.625534 meters looking forward 0.000000 meters along route # Maximum depth: 1123.625534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.625534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.860002; captureRadius = 10; duration = 117; initialDepth = 1071.155359; finalDepth = 1073.625534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.625534 # Seafloor depth:-1123.625534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.155359 meters looking forward 0.000000 meters along route # Maximum depth: 1121.155359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.155359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.859337; captureRadius = 10; duration = 117; initialDepth = 1072.638379; finalDepth = 1071.155359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.155359 # Seafloor depth:-1121.155359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.638379 meters looking forward 0.000000 meters along route # Maximum depth: 1122.638379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.638379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784895; longitude = -121.858622; captureRadius = 10; duration = 117; initialDepth = 1077.996817; finalDepth = 1072.638379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.638379 # Seafloor depth:-1122.638379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1127.996817 meters looking forward 0.000000 meters along route # Maximum depth: 1127.996817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.996817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.858008; captureRadius = 10; duration = 117; initialDepth = 1079.050561; finalDepth = 1077.996817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.996817 # Seafloor depth:-1127.996817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1129.050561 meters looking forward 0.000000 meters along route # Maximum depth: 1129.050561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.050561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.857344; captureRadius = 10; duration = 117; initialDepth = 1068.254182; finalDepth = 1079.050561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.050561 # Seafloor depth:-1129.050561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1118.254182 meters looking forward 0.000000 meters along route # Maximum depth: 1118.254182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.254182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.856679; captureRadius = 10; duration = 117; initialDepth = 1070.658986; finalDepth = 1068.254182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.254182 # Seafloor depth:-1118.254182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1120.658986 meters looking forward 0.000000 meters along route # Maximum depth: 1120.658986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.658986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.856015; captureRadius = 10; duration = 117; initialDepth = 1073.641004; finalDepth = 1070.658986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.658986 # Seafloor depth:-1120.658986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.641004 meters looking forward 0.000000 meters along route # Maximum depth: 1123.641004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.641004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789034; longitude = -121.855305; captureRadius = 10; duration = 117; initialDepth = 1076.722350; finalDepth = 1073.641004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.641004 # Seafloor depth:-1123.641004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.722350 meters looking forward 0.000000 meters along route # Maximum depth: 1126.722350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.722350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.854686; captureRadius = 10; duration = 117; initialDepth = 1071.048498; finalDepth = 1076.722350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.72235 # Seafloor depth:-1126.722350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.048498 meters looking forward 0.000000 meters along route # Maximum depth: 1121.048498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.048498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790636; longitude = -121.854021; captureRadius = 10; duration = 117; initialDepth = 1067.667885; finalDepth = 1071.048498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.048498 # Seafloor depth:-1121.048498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.667885 meters looking forward 0.000000 meters along route # Maximum depth: 1117.667885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.667885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.853357; captureRadius = 10; duration = 117; initialDepth = 1067.679537; finalDepth = 1067.667885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.667885 # Seafloor depth:-1117.667885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.679537 meters looking forward 0.000000 meters along route # Maximum depth: 1117.679537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.679537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792295; longitude = -121.852692; captureRadius = 10; duration = 117; initialDepth = 1068.711299; finalDepth = 1067.679537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.679537 # Seafloor depth:-1117.679537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1118.711299 meters looking forward 0.000000 meters along route # Maximum depth: 1118.711299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.711299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793173; longitude = -121.851988; captureRadius = 10; duration = 117; initialDepth = 1068.564570; finalDepth = 1068.711299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.711299 # Seafloor depth:-1118.711299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1118.564570 meters looking forward 0.000000 meters along route # Maximum depth: 1118.564570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.564570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793953; longitude = -121.851363; captureRadius = 10; duration = 117; initialDepth = 1074.786904; finalDepth = 1068.564570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.56457 # Seafloor depth:-1118.564570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.786904 meters looking forward 0.000000 meters along route # Maximum depth: 1124.786904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.786904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794782; longitude = -121.850699; captureRadius = 10; duration = 117; initialDepth = 1076.417845; finalDepth = 1074.786904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.786904 # Seafloor depth:-1124.786904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.417845 meters looking forward 0.000000 meters along route # Maximum depth: 1126.417845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.417845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795611; longitude = -121.850034; captureRadius = 10; duration = 117; initialDepth = 1074.043847; finalDepth = 1076.417845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.417845 # Seafloor depth:-1126.417845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.043847 meters looking forward 0.000000 meters along route # Maximum depth: 1124.043847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.043847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796441; longitude = -121.849370; captureRadius = 10; duration = 117; initialDepth = 1067.181142; finalDepth = 1074.043847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.043847 # Seafloor depth:-1124.043847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.181142 meters looking forward 0.000000 meters along route # Maximum depth: 1117.181142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.181142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797312; longitude = -121.848671; captureRadius = 10; duration = 117; initialDepth = 1065.143971; finalDepth = 1067.181142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.181142 # Seafloor depth:-1117.181142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.143971 meters looking forward 0.000000 meters along route # Maximum depth: 1115.143971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.143971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798099; longitude = -121.848041; captureRadius = 10; duration = 117; initialDepth = 1066.737115; finalDepth = 1065.143971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.143971 # Seafloor depth:-1115.143971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.737115 meters looking forward 0.000000 meters along route # Maximum depth: 1116.737115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.737115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798928; longitude = -121.847376; captureRadius = 10; duration = 117; initialDepth = 1065.567154; finalDepth = 1066.737115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.737115 # Seafloor depth:-1116.737115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.567154 meters looking forward 0.000000 meters along route # Maximum depth: 1115.567154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.567154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799758; longitude = -121.846711; captureRadius = 10; duration = 117; initialDepth = 1064.757530; finalDepth = 1065.567154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.567154 # Seafloor depth:-1115.567154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.757530 meters looking forward 0.000000 meters along route # Maximum depth: 1114.757530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.757530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800587; longitude = -121.846047; captureRadius = 10; duration = 117; initialDepth = 1060.124912; finalDepth = 1064.757530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.75753 # Seafloor depth:-1114.757530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.124912 meters looking forward 0.000000 meters along route # Maximum depth: 1110.124912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.124912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801451; longitude = -121.845354; captureRadius = 10; duration = 117; initialDepth = 1057.645149; finalDepth = 1060.124912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.124912 # Seafloor depth:-1110.124912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.645149 meters looking forward 0.000000 meters along route # Maximum depth: 1107.645149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.645149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802245; longitude = -121.844718; captureRadius = 10; duration = 117; initialDepth = 1054.026626; finalDepth = 1057.645149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.645149 # Seafloor depth:-1107.645149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.026626 meters looking forward 0.000000 meters along route # Maximum depth: 1104.026626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.026626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803074; longitude = -121.844053; captureRadius = 10; duration = 117; initialDepth = 1053.845117; finalDepth = 1054.026626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.026626 # Seafloor depth:-1104.026626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.845117 meters looking forward 0.000000 meters along route # Maximum depth: 1103.845117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.845117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803904; longitude = -121.843389; captureRadius = 10; duration = 117; initialDepth = 1055.439551; finalDepth = 1053.845117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.845117 # Seafloor depth:-1103.845117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.439551 meters looking forward 0.000000 meters along route # Maximum depth: 1105.439551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.439551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804733; longitude = -121.842724; captureRadius = 10; duration = 117; initialDepth = 1055.781934; finalDepth = 1055.439551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.439551 # Seafloor depth:-1105.439551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.781934 meters looking forward 0.000000 meters along route # Maximum depth: 1105.781934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.781934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805590; longitude = -121.842038; captureRadius = 10; duration = 117; initialDepth = 1055.969796; finalDepth = 1055.781934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.781934 # Seafloor depth:-1105.781934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.969796 meters looking forward 0.000000 meters along route # Maximum depth: 1105.969796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.969796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806391; longitude = -121.841395; captureRadius = 10; duration = 117; initialDepth = 1050.584959; finalDepth = 1055.969796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.969796 # Seafloor depth:-1105.969796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1100.584959 meters looking forward 0.000000 meters along route # Maximum depth: 1100.584959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.584959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807314; longitude = -121.840656; captureRadius = 10; duration = 117; initialDepth = 1047.835449; finalDepth = 1050.584959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.584959 # Seafloor depth:-1100.584959 # 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 117.753835 meters # Minimum depth: 1097.835449 meters looking forward 0.000000 meters along route # Maximum depth: 1097.835449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.835449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808234; longitude = -121.839919; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1046.424211; finalDepth = 1047.835449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.835449 # Seafloor depth:-1097.835449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1096.424211 meters looking forward 0.000000 meters along route # Maximum depth: 1096.424211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.424211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808087; longitude = -121.839550; captureRadius = 10; duration = 117; initialDepth = 1045.020671; finalDepth = 1046.424211; 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:1046.424211 # Seafloor depth:-1096.424211 # 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 117.753835 meters # Minimum depth: 1095.020671 meters looking forward 0.000000 meters along route # Maximum depth: 1095.020671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.020671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807681; longitude = -121.838537; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1049.142319; finalDepth = 1045.020671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.020671 # Seafloor depth:-1095.020671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1099.142319 meters looking forward 0.000000 meters along route # Maximum depth: 1099.142319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.142319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806944; longitude = -121.839124; captureRadius = 10; duration = 117; initialDepth = 1050.391507; finalDepth = 1049.142319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.142319 # Seafloor depth:-1099.142319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1100.391507 meters looking forward 0.000000 meters along route # Maximum depth: 1100.391507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.391507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806063; longitude = -121.839826; captureRadius = 10; duration = 117; initialDepth = 1052.051052; finalDepth = 1050.391507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.391507 # Seafloor depth:-1100.391507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1102.051052 meters looking forward 0.000000 meters along route # Maximum depth: 1102.051052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.051052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805286; longitude = -121.840446; captureRadius = 10; duration = 117; initialDepth = 1053.094174; finalDepth = 1052.051052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.051052 # Seafloor depth:-1102.051052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.094174 meters looking forward 0.000000 meters along route # Maximum depth: 1103.094174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.094174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804456; longitude = -121.841107; captureRadius = 10; duration = 117; initialDepth = 1053.756101; finalDepth = 1053.094174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.094174 # Seafloor depth:-1103.094174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.756101 meters looking forward 0.000000 meters along route # Maximum depth: 1103.756101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.756101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803627; longitude = -121.841768; captureRadius = 10; duration = 117; initialDepth = 1056.948011; finalDepth = 1053.756101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.756101 # Seafloor depth:-1103.756101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.948011 meters looking forward 0.000000 meters along route # Maximum depth: 1106.948011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.948011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802798; longitude = -121.842429; captureRadius = 10; duration = 117; initialDepth = 1054.046886; finalDepth = 1056.948011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.948011 # Seafloor depth:-1106.948011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.046886 meters looking forward 0.000000 meters along route # Maximum depth: 1104.046886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.046886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801903; longitude = -121.843143; captureRadius = 10; duration = 117; initialDepth = 1059.200758; finalDepth = 1054.046886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.046886 # Seafloor depth:-1104.046886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.200758 meters looking forward 0.000000 meters along route # Maximum depth: 1109.200758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.200758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801140; longitude = -121.843752; captureRadius = 10; duration = 117; initialDepth = 1064.195440; finalDepth = 1059.200758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.200758 # Seafloor depth:-1109.200758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.195440 meters looking forward 0.000000 meters along route # Maximum depth: 1114.195440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.195440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800310; longitude = -121.844413; captureRadius = 10; duration = 117; initialDepth = 1062.882553; finalDepth = 1064.195440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.19544 # Seafloor depth:-1114.195440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.882553 meters looking forward 0.000000 meters along route # Maximum depth: 1112.882553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.882553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799476; longitude = -121.845078; captureRadius = 10; duration = 117; initialDepth = 1062.482843; finalDepth = 1062.882553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.882553 # Seafloor depth:-1112.882553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.482843 meters looking forward 0.000000 meters along route # Maximum depth: 1112.482843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.482843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798652; longitude = -121.845735; captureRadius = 10; duration = 117; initialDepth = 1067.643838; finalDepth = 1062.482843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.482843 # Seafloor depth:-1112.482843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.643838 meters looking forward 0.000000 meters along route # Maximum depth: 1117.643838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.643838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797823; longitude = -121.846396; captureRadius = 10; duration = 117; initialDepth = 1069.919993; finalDepth = 1067.643838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.643838 # Seafloor depth:-1117.643838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.919993 meters looking forward 0.000000 meters along route # Maximum depth: 1119.919993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.919993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -121.847057; captureRadius = 10; duration = 117; initialDepth = 1070.881116; finalDepth = 1069.919993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.919993 # Seafloor depth:-1119.919993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1120.881116 meters looking forward 0.000000 meters along route # Maximum depth: 1120.881116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.881116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.847718; captureRadius = 10; duration = 117; initialDepth = 1074.049976; finalDepth = 1070.881116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.881116 # Seafloor depth:-1120.881116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.049976 meters looking forward 0.000000 meters along route # Maximum depth: 1124.049976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.049976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795315; longitude = -121.848395; captureRadius = 10; duration = 117; initialDepth = 1076.374008; finalDepth = 1074.049976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.049976 # Seafloor depth:-1124.049976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.374008 meters looking forward 0.000000 meters along route # Maximum depth: 1126.374008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.374008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.849040; captureRadius = 10; duration = 117; initialDepth = 1069.283489; finalDepth = 1076.374008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.374008 # Seafloor depth:-1126.374008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.283489 meters looking forward 0.000000 meters along route # Maximum depth: 1119.283489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.283489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.849701; captureRadius = 10; duration = 117; initialDepth = 1067.981563; finalDepth = 1069.283489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.283489 # Seafloor depth:-1119.283489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.981563 meters looking forward 0.000000 meters along route # Maximum depth: 1117.981563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.981563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792847; longitude = -121.850362; captureRadius = 10; duration = 117; initialDepth = 1065.005024; finalDepth = 1067.981563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.981563 # Seafloor depth:-1117.981563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.005024 meters looking forward 0.000000 meters along route # Maximum depth: 1115.005024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.005024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.851023; captureRadius = 10; duration = 117; initialDepth = 1065.495767; finalDepth = 1065.005024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.005024 # Seafloor depth:-1115.005024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.495767 meters looking forward 0.000000 meters along route # Maximum depth: 1115.495767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.495767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791155; longitude = -121.851712; captureRadius = 10; duration = 117; initialDepth = 1066.559881; finalDepth = 1065.495767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.495767 # Seafloor depth:-1115.495767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.559881 meters looking forward 0.000000 meters along route # Maximum depth: 1116.559881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.559881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790360; longitude = -121.852346; captureRadius = 10; duration = 117; initialDepth = 1074.700678; finalDepth = 1066.559881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.559881 # Seafloor depth:-1116.559881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.700678 meters looking forward 0.000000 meters along route # Maximum depth: 1124.700678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.700678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.853007; captureRadius = 10; duration = 117; initialDepth = 1074.508582; finalDepth = 1074.700678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.700678 # Seafloor depth:-1124.700678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.508582 meters looking forward 0.000000 meters along route # Maximum depth: 1124.508582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.508582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.853668; captureRadius = 10; duration = 117; initialDepth = 1069.867818; finalDepth = 1074.508582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.508582 # Seafloor depth:-1124.508582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.867818 meters looking forward 0.000000 meters along route # Maximum depth: 1119.867818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.867818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.854329; captureRadius = 10; duration = 117; initialDepth = 1066.061249; finalDepth = 1069.867818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.867818 # Seafloor depth:-1119.867818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.061249 meters looking forward 0.000000 meters along route # Maximum depth: 1116.061249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.061249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786994; longitude = -121.855029; captureRadius = 10; duration = 117; initialDepth = 1071.637270; finalDepth = 1066.061249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.061249 # Seafloor depth:-1116.061249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.637270 meters looking forward 0.000000 meters along route # Maximum depth: 1121.637270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.637270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786214; longitude = -121.855651; captureRadius = 10; duration = 117; initialDepth = 1077.490242; finalDepth = 1071.637270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.63727 # Seafloor depth:-1121.637270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1127.490242 meters looking forward 0.000000 meters along route # Maximum depth: 1127.490242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.490242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.856312; captureRadius = 10; duration = 117; initialDepth = 1075.042625; finalDepth = 1077.490242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.490242 # Seafloor depth:-1127.490242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.042625 meters looking forward 0.000000 meters along route # Maximum depth: 1125.042625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.042625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.856973; captureRadius = 10; duration = 117; initialDepth = 1070.039881; finalDepth = 1075.042625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.042625 # Seafloor depth:-1125.042625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1120.039881 meters looking forward 0.000000 meters along route # Maximum depth: 1120.039881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.039881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.857634; captureRadius = 10; duration = 117; initialDepth = 1072.901659; finalDepth = 1070.039881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.039881 # Seafloor depth:-1120.039881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.901659 meters looking forward 0.000000 meters along route # Maximum depth: 1122.901659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.901659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782834; longitude = -121.858345; captureRadius = 10; duration = 117; initialDepth = 1075.623782; finalDepth = 1072.901659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.901659 # Seafloor depth:-1122.901659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.623782 meters looking forward 0.000000 meters along route # Maximum depth: 1125.623782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.623782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782068; longitude = -121.858956; captureRadius = 10; duration = 117; initialDepth = 1072.921868; finalDepth = 1075.623782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.623782 # Seafloor depth:-1125.623782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.921868 meters looking forward 0.000000 meters along route # Maximum depth: 1122.921868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.921868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.859617; captureRadius = 10; duration = 117; initialDepth = 1070.574339; finalDepth = 1072.921868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.921868 # Seafloor depth:-1122.921868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1120.574339 meters looking forward 0.000000 meters along route # Maximum depth: 1120.574339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.574339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780407; longitude = -121.860280; captureRadius = 10; duration = 117; initialDepth = 1069.232560; finalDepth = 1070.574339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.574339 # Seafloor depth:-1120.574339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.232560 meters looking forward 0.000000 meters along route # Maximum depth: 1119.232560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.232560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.860939; captureRadius = 10; duration = 117; initialDepth = 1070.490346; finalDepth = 1069.232560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.23256 # Seafloor depth:-1119.232560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1120.490346 meters looking forward 0.000000 meters along route # Maximum depth: 1120.490346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.490346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.861601; captureRadius = 10; duration = 117; initialDepth = 1071.378038; finalDepth = 1070.490346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.490346 # Seafloor depth:-1120.490346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.378038 meters looking forward 0.000000 meters along route # Maximum depth: 1121.378038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.378038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777922; longitude = -121.862262; captureRadius = 10; duration = 117; initialDepth = 1071.021632; finalDepth = 1071.378038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.378038 # Seafloor depth:-1121.378038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.021632 meters looking forward 0.000000 meters along route # Maximum depth: 1121.021632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.021632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.862923; captureRadius = 10; duration = 117; initialDepth = 1069.833373; finalDepth = 1071.021632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.021632 # Seafloor depth:-1121.021632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.833373 meters looking forward 0.000000 meters along route # Maximum depth: 1119.833373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.833373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776246; longitude = -121.863597; captureRadius = 10; duration = 117; initialDepth = 1082.884435; finalDepth = 1069.833373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.833373 # Seafloor depth:-1119.833373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1132.884435 meters looking forward 0.000000 meters along route # Maximum depth: 1132.884435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.884435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.864245; captureRadius = 10; duration = 117; initialDepth = 1080.764482; finalDepth = 1082.884435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.884435 # Seafloor depth:-1132.884435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1130.764482 meters looking forward 0.000000 meters along route # Maximum depth: 1130.764482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.764482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.864906; captureRadius = 10; duration = 117; initialDepth = 1070.379409; finalDepth = 1080.764482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.764482 # Seafloor depth:-1130.764482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1120.379409 meters looking forward 0.000000 meters along route # Maximum depth: 1120.379409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.379409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.865567; captureRadius = 10; duration = 117; initialDepth = 1068.908844; finalDepth = 1070.379409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.379409 # Seafloor depth:-1120.379409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1118.908844 meters looking forward 0.000000 meters along route # Maximum depth: 1118.908844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.908844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.866228; captureRadius = 10; duration = 117; initialDepth = 1069.959788; finalDepth = 1068.908844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.908844 # Seafloor depth:-1118.908844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.959788 meters looking forward 0.000000 meters along route # Maximum depth: 1119.959788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.959788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772086; longitude = -121.866914; captureRadius = 10; duration = 117; initialDepth = 1066.326017; finalDepth = 1069.959788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.959788 # Seafloor depth:-1119.959788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.326017 meters looking forward 0.000000 meters along route # Maximum depth: 1116.326017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.326017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.867550; captureRadius = 10; duration = 117; initialDepth = 1067.680070; finalDepth = 1066.326017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.326017 # Seafloor depth:-1116.326017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.680070 meters looking forward 0.000000 meters along route # Maximum depth: 1117.680070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.680070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.868211; captureRadius = 10; duration = 117; initialDepth = 1073.319403; finalDepth = 1067.680070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.68007 # Seafloor depth:-1117.680070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.319403 meters looking forward 0.000000 meters along route # Maximum depth: 1123.319403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.319403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.868872; captureRadius = 10; duration = 117; initialDepth = 1076.081823; finalDepth = 1073.319403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.319403 # Seafloor depth:-1123.319403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.081823 meters looking forward 0.000000 meters along route # Maximum depth: 1126.081823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.081823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.869533; captureRadius = 10; duration = 117; initialDepth = 1072.396251; finalDepth = 1076.081823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.081823 # Seafloor depth:-1126.081823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.396251 meters looking forward 0.000000 meters along route # Maximum depth: 1122.396251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.396251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767925; longitude = -121.870231; captureRadius = 10; duration = 117; initialDepth = 1071.708703; finalDepth = 1072.396251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.396251 # Seafloor depth:-1122.396251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.708703 meters looking forward 0.000000 meters along route # Maximum depth: 1121.708703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.708703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767142; longitude = -121.870855; captureRadius = 10; duration = 117; initialDepth = 1074.690629; finalDepth = 1071.708703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.708703 # Seafloor depth:-1121.708703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.690629 meters looking forward 0.000000 meters along route # Maximum depth: 1124.690629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.690629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766313; longitude = -121.871517; captureRadius = 10; duration = 117; initialDepth = 1076.332556; finalDepth = 1074.690629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.690629 # Seafloor depth:-1124.690629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1126.332556 meters looking forward 0.000000 meters along route # Maximum depth: 1126.332556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.332556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765483; longitude = -121.872178; captureRadius = 10; duration = 117; initialDepth = 1077.135882; finalDepth = 1076.332556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.332556 # Seafloor depth:-1126.332556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1127.135882 meters looking forward 0.000000 meters along route # Maximum depth: 1127.135882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.135882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.872839; captureRadius = 10; duration = 117; initialDepth = 1075.632234; finalDepth = 1077.135882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.135882 # Seafloor depth:-1127.135882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.632234 meters looking forward 0.000000 meters along route # Maximum depth: 1125.632234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.632234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763765; longitude = -121.873548; captureRadius = 10; duration = 117; initialDepth = 1073.840073; finalDepth = 1075.632234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.632234 # Seafloor depth:-1125.632234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.840073 meters looking forward 0.000000 meters along route # Maximum depth: 1123.840073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.840073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762996; longitude = -121.874161; captureRadius = 10; duration = 117; initialDepth = 1075.188280; finalDepth = 1073.840073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.840073 # Seafloor depth:-1123.840073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.188280 meters looking forward 0.000000 meters along route # Maximum depth: 1125.188280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.188280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.874822; captureRadius = 10; duration = 117; initialDepth = 1078.014070; finalDepth = 1075.188280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.18828 # Seafloor depth:-1125.188280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.014070 meters looking forward 0.000000 meters along route # Maximum depth: 1128.014070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.014070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.875483; captureRadius = 10; duration = 117; initialDepth = 1075.097698; finalDepth = 1078.014070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.01407 # Seafloor depth:-1128.014070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.097698 meters looking forward 0.000000 meters along route # Maximum depth: 1125.097698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.097698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.876144; captureRadius = 10; duration = 117; initialDepth = 1073.416088; finalDepth = 1075.097698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.097698 # Seafloor depth:-1125.097698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.416088 meters looking forward 0.000000 meters along route # Maximum depth: 1123.416088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.416088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.876805; captureRadius = 10; duration = 117; initialDepth = 1072.647981; finalDepth = 1073.416088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.416088 # Seafloor depth:-1123.416088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.647981 meters looking forward 0.000000 meters along route # Maximum depth: 1122.647981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.647981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758850; longitude = -121.877466; captureRadius = 10; duration = 117; initialDepth = 1075.781670; finalDepth = 1072.647981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.647981 # Seafloor depth:-1122.647981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.781670 meters looking forward 0.000000 meters along route # Maximum depth: 1125.781670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.781670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.878127; captureRadius = 10; duration = 117; initialDepth = 1079.153290; finalDepth = 1075.781670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.78167 # Seafloor depth:-1125.781670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1129.153290 meters looking forward 0.000000 meters along route # Maximum depth: 1129.153290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.153290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757178; longitude = -121.878799; captureRadius = 10; duration = 117; initialDepth = 1078.015726; finalDepth = 1079.153290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.15329 # Seafloor depth:-1129.153290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.015726 meters looking forward 0.000000 meters along route # Maximum depth: 1128.015726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.015726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.879449; captureRadius = 10; duration = 117; initialDepth = 1077.279473; finalDepth = 1078.015726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.015726 # Seafloor depth:-1128.015726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1127.279473 meters looking forward 0.000000 meters along route # Maximum depth: 1127.279473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.279473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755444; longitude = -121.880181; captureRadius = 10; duration = 117; initialDepth = 1071.984701; finalDepth = 1077.279473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.279473 # Seafloor depth:-1127.279473 # 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 117.753835 meters # Minimum depth: 1121.984701 meters looking forward 0.000000 meters along route # Maximum depth: 1121.984701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.984701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754519; longitude = -121.880918; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1071.240479; finalDepth = 1071.984701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.984701 # Seafloor depth:-1121.984701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.240479 meters looking forward 0.000000 meters along route # Maximum depth: 1121.240479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.240479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754243; longitude = -121.880458; captureRadius = 10; duration = 117; initialDepth = 1070.003418; finalDepth = 1071.240479; 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:1071.240479 # Seafloor depth:-1121.240479 # 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 117.753835 meters # Minimum depth: 1120.003418 meters looking forward 0.000000 meters along route # Maximum depth: 1120.003418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.003418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753690; longitude = -121.879536; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1072.352673; finalDepth = 1070.003418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.003418 # Seafloor depth:-1120.003418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.352673 meters looking forward 0.000000 meters along route # Maximum depth: 1122.352673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.352673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.878949; captureRadius = 10; duration = 117; initialDepth = 1070.325382; finalDepth = 1072.352673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.352673 # Seafloor depth:-1122.352673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1120.325382 meters looking forward 0.000000 meters along route # Maximum depth: 1120.325382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.325382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755308; longitude = -121.878247; captureRadius = 10; duration = 117; initialDepth = 1070.766241; finalDepth = 1070.325382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.325382 # Seafloor depth:-1120.325382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1120.766241 meters looking forward 0.000000 meters along route # Maximum depth: 1120.766241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.766241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756086; longitude = -121.877627; captureRadius = 10; duration = 117; initialDepth = 1074.165105; finalDepth = 1070.766241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.766241 # Seafloor depth:-1120.766241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.165105 meters looking forward 0.000000 meters along route # Maximum depth: 1124.165105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.165105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756915; longitude = -121.876966; captureRadius = 10; duration = 117; initialDepth = 1077.495320; finalDepth = 1074.165105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.165105 # Seafloor depth:-1124.165105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1127.495320 meters looking forward 0.000000 meters along route # Maximum depth: 1127.495320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.495320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.876305; captureRadius = 10; duration = 117; initialDepth = 1069.956227; finalDepth = 1077.495320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.49532 # Seafloor depth:-1127.495320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.956227 meters looking forward 0.000000 meters along route # Maximum depth: 1119.956227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.956227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.875643; captureRadius = 10; duration = 117; initialDepth = 1071.691404; finalDepth = 1069.956227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.956227 # Seafloor depth:-1119.956227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.691404 meters looking forward 0.000000 meters along route # Maximum depth: 1121.691404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.691404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759469; longitude = -121.874930; captureRadius = 10; duration = 117; initialDepth = 1071.509736; finalDepth = 1071.691404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.691404 # Seafloor depth:-1121.691404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.509736 meters looking forward 0.000000 meters along route # Maximum depth: 1121.509736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.509736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.874321; captureRadius = 10; duration = 117; initialDepth = 1074.653953; finalDepth = 1071.509736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.509736 # Seafloor depth:-1121.509736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.653953 meters looking forward 0.000000 meters along route # Maximum depth: 1124.653953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.653953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761061; longitude = -121.873660; captureRadius = 10; duration = 117; initialDepth = 1074.249627; finalDepth = 1074.653953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.653953 # Seafloor depth:-1124.653953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.249627 meters looking forward 0.000000 meters along route # Maximum depth: 1124.249627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.249627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761896; longitude = -121.872995; captureRadius = 10; duration = 117; initialDepth = 1071.796848; finalDepth = 1074.249627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.249627 # Seafloor depth:-1124.249627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.796848 meters looking forward 0.000000 meters along route # Maximum depth: 1121.796848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.796848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.872338; captureRadius = 10; duration = 117; initialDepth = 1070.323111; finalDepth = 1071.796848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.796848 # Seafloor depth:-1121.796848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1120.323111 meters looking forward 0.000000 meters along route # Maximum depth: 1120.323111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.323111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763549; longitude = -121.871677; captureRadius = 10; duration = 117; initialDepth = 1073.977644; finalDepth = 1070.323111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.323111 # Seafloor depth:-1120.323111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.977644 meters looking forward 0.000000 meters along route # Maximum depth: 1123.977644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.977644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.871016; captureRadius = 10; duration = 117; initialDepth = 1071.005596; finalDepth = 1073.977644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.977644 # Seafloor depth:-1123.977644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.005596 meters looking forward 0.000000 meters along route # Maximum depth: 1121.005596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.005596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765207; longitude = -121.870355; captureRadius = 10; duration = 117; initialDepth = 1071.248440; finalDepth = 1071.005596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.005596 # Seafloor depth:-1121.005596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.248440 meters looking forward 0.000000 meters along route # Maximum depth: 1121.248440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.248440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766056; longitude = -121.869678; captureRadius = 10; duration = 117; initialDepth = 1068.833241; finalDepth = 1071.248440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.24844 # Seafloor depth:-1121.248440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1118.833241 meters looking forward 0.000000 meters along route # Maximum depth: 1118.833241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.833241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766865; longitude = -121.869033; captureRadius = 10; duration = 117; initialDepth = 1074.306307; finalDepth = 1068.833241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.833241 # Seafloor depth:-1118.833241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.306307 meters looking forward 0.000000 meters along route # Maximum depth: 1124.306307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.306307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767695; longitude = -121.868372; captureRadius = 10; duration = 117; initialDepth = 1073.105817; finalDepth = 1074.306307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.306307 # Seafloor depth:-1124.306307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.105817 meters looking forward 0.000000 meters along route # Maximum depth: 1123.105817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.105817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768524; longitude = -121.867711; captureRadius = 10; duration = 117; initialDepth = 1067.681881; finalDepth = 1073.105817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.105817 # Seafloor depth:-1123.105817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.681881 meters looking forward 0.000000 meters along route # Maximum depth: 1117.681881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.681881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769353; longitude = -121.867050; captureRadius = 10; duration = 117; initialDepth = 1067.341818; finalDepth = 1067.681881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.681881 # Seafloor depth:-1117.681881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.341818 meters looking forward 0.000000 meters along route # Maximum depth: 1117.341818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.341818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770217; longitude = -121.866361; captureRadius = 10; duration = 117; initialDepth = 1068.536705; finalDepth = 1067.341818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.341818 # Seafloor depth:-1117.341818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1118.536705 meters looking forward 0.000000 meters along route # Maximum depth: 1118.536705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.536705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771012; longitude = -121.865727; captureRadius = 10; duration = 117; initialDepth = 1068.255483; finalDepth = 1068.536705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.536705 # Seafloor depth:-1118.536705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1118.255483 meters looking forward 0.000000 meters along route # Maximum depth: 1118.255483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.255483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771841; longitude = -121.865066; captureRadius = 10; duration = 117; initialDepth = 1072.680715; finalDepth = 1068.255483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.255483 # Seafloor depth:-1118.255483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.680715 meters looking forward 0.000000 meters along route # Maximum depth: 1122.680715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.680715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.864405; captureRadius = 10; duration = 117; initialDepth = 1075.962678; finalDepth = 1072.680715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.680715 # Seafloor depth:-1122.680715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.962678 meters looking forward 0.000000 meters along route # Maximum depth: 1125.962678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.962678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.863744; captureRadius = 10; duration = 117; initialDepth = 1078.190543; finalDepth = 1075.962678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.962678 # Seafloor depth:-1125.962678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.190543 meters looking forward 0.000000 meters along route # Maximum depth: 1128.190543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.190543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774377; longitude = -121.863044; captureRadius = 10; duration = 117; initialDepth = 1066.332053; finalDepth = 1078.190543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.190543 # Seafloor depth:-1128.190543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.332053 meters looking forward 0.000000 meters along route # Maximum depth: 1116.332053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.332053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775158; longitude = -121.862422; captureRadius = 10; duration = 117; initialDepth = 1070.464845; finalDepth = 1066.332053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.332053 # Seafloor depth:-1116.332053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1120.464845 meters looking forward 0.000000 meters along route # Maximum depth: 1120.464845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.464845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.861761; captureRadius = 10; duration = 117; initialDepth = 1072.857390; finalDepth = 1070.464845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.464845 # Seafloor depth:-1120.464845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.857390 meters looking forward 0.000000 meters along route # Maximum depth: 1122.857390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.857390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.861100; captureRadius = 10; duration = 117; initialDepth = 1068.679679; finalDepth = 1072.857390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.85739 # Seafloor depth:-1122.857390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1118.679679 meters looking forward 0.000000 meters along route # Maximum depth: 1118.679679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.679679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.860439; captureRadius = 10; duration = 117; initialDepth = 1066.956631; finalDepth = 1068.679679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.679679 # Seafloor depth:-1118.679679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.956631 meters looking forward 0.000000 meters along route # Maximum depth: 1116.956631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.956631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778538; longitude = -121.859727; captureRadius = 10; duration = 117; initialDepth = 1068.570944; finalDepth = 1066.956631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.956631 # Seafloor depth:-1116.956631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1118.570944 meters looking forward 0.000000 meters along route # Maximum depth: 1118.570944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.570944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779304; longitude = -121.859117; captureRadius = 10; duration = 117; initialDepth = 1066.343278; finalDepth = 1068.570944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.570944 # Seafloor depth:-1118.570944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.343278 meters looking forward 0.000000 meters along route # Maximum depth: 1116.343278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.343278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780133; longitude = -121.858456; captureRadius = 10; duration = 117; initialDepth = 1069.264143; finalDepth = 1066.343278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.343278 # Seafloor depth:-1116.343278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.264143 meters looking forward 0.000000 meters along route # Maximum depth: 1119.264143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.264143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780964; longitude = -121.857793; captureRadius = 10; duration = 117; initialDepth = 1071.256947; finalDepth = 1069.264143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.264143 # Seafloor depth:-1119.264143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.256947 meters looking forward 0.000000 meters along route # Maximum depth: 1121.256947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.256947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.857133; captureRadius = 10; duration = 117; initialDepth = 1068.241385; finalDepth = 1071.256947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.256947 # Seafloor depth:-1121.256947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1118.241385 meters looking forward 0.000000 meters along route # Maximum depth: 1118.241385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.241385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.856472; captureRadius = 10; duration = 117; initialDepth = 1064.412450; finalDepth = 1068.241385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.241385 # Seafloor depth:-1118.241385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.412450 meters looking forward 0.000000 meters along route # Maximum depth: 1114.412450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.412450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783450; longitude = -121.855811; captureRadius = 10; duration = 117; initialDepth = 1074.275546; finalDepth = 1064.412450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.41245 # Seafloor depth:-1114.412450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.275546 meters looking forward 0.000000 meters along route # Maximum depth: 1124.275546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.275546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.855150; captureRadius = 10; duration = 117; initialDepth = 1072.298807; finalDepth = 1074.275546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.275546 # Seafloor depth:-1124.275546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.298807 meters looking forward 0.000000 meters along route # Maximum depth: 1122.298807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.298807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785125; longitude = -121.854476; captureRadius = 10; duration = 117; initialDepth = 1066.894962; finalDepth = 1072.298807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.298807 # Seafloor depth:-1122.298807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.894962 meters looking forward 0.000000 meters along route # Maximum depth: 1116.894962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.894962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.853828; captureRadius = 10; duration = 117; initialDepth = 1066.206308; finalDepth = 1066.894962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.894962 # Seafloor depth:-1116.894962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.206308 meters looking forward 0.000000 meters along route # Maximum depth: 1116.206308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.206308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.853167; captureRadius = 10; duration = 117; initialDepth = 1067.315950; finalDepth = 1066.206308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.206308 # Seafloor depth:-1116.206308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.315950 meters looking forward 0.000000 meters along route # Maximum depth: 1117.315950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.315950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787596; longitude = -121.852506; captureRadius = 10; duration = 117; initialDepth = 1073.338385; finalDepth = 1067.315950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.31595 # Seafloor depth:-1117.315950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.338385 meters looking forward 0.000000 meters along route # Maximum depth: 1123.338385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.338385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788425; longitude = -121.851845; captureRadius = 10; duration = 117; initialDepth = 1075.186287; finalDepth = 1073.338385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.338385 # Seafloor depth:-1123.338385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.186287 meters looking forward 0.000000 meters along route # Maximum depth: 1125.186287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.186287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789285; longitude = -121.851159; captureRadius = 10; duration = 117; initialDepth = 1062.262378; finalDepth = 1075.186287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.186287 # Seafloor depth:-1125.186287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.262378 meters looking forward 0.000000 meters along route # Maximum depth: 1112.262378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.262378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.850523; captureRadius = 10; duration = 117; initialDepth = 1061.003888; finalDepth = 1062.262378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.262378 # Seafloor depth:-1112.262378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1111.003888 meters looking forward 0.000000 meters along route # Maximum depth: 1111.003888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.003888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790913; longitude = -121.849862; captureRadius = 10; duration = 117; initialDepth = 1062.302183; finalDepth = 1061.003888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.003888 # Seafloor depth:-1111.003888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.302183 meters looking forward 0.000000 meters along route # Maximum depth: 1112.302183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.302183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791742; longitude = -121.849201; captureRadius = 10; duration = 117; initialDepth = 1068.016173; finalDepth = 1062.302183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.302183 # Seafloor depth:-1112.302183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1118.016173 meters looking forward 0.000000 meters along route # Maximum depth: 1118.016173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.016173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792571; longitude = -121.848540; captureRadius = 10; duration = 117; initialDepth = 1065.481957; finalDepth = 1068.016173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.016173 # Seafloor depth:-1118.016173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.481957 meters looking forward 0.000000 meters along route # Maximum depth: 1115.481957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.481957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793446; longitude = -121.847842; captureRadius = 10; duration = 117; initialDepth = 1069.926546; finalDepth = 1065.481957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.481957 # Seafloor depth:-1115.481957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.926546 meters looking forward 0.000000 meters along route # Maximum depth: 1119.926546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.926546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794229; longitude = -121.847217; captureRadius = 10; duration = 117; initialDepth = 1066.095616; finalDepth = 1069.926546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.926546 # Seafloor depth:-1119.926546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.095616 meters looking forward 0.000000 meters along route # Maximum depth: 1116.095616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.095616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795059; longitude = -121.846556; captureRadius = 10; duration = 117; initialDepth = 1062.192382; finalDepth = 1066.095616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.095616 # Seafloor depth:-1116.095616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.192382 meters looking forward 0.000000 meters along route # Maximum depth: 1112.192382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.192382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795888; longitude = -121.845895; captureRadius = 10; duration = 117; initialDepth = 1061.149763; finalDepth = 1062.192382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.192382 # Seafloor depth:-1112.192382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1111.149763 meters looking forward 0.000000 meters along route # Maximum depth: 1111.149763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.149763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796717; longitude = -121.845234; captureRadius = 10; duration = 117; initialDepth = 1059.024987; finalDepth = 1061.149763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.149763 # Seafloor depth:-1111.149763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.024987 meters looking forward 0.000000 meters along route # Maximum depth: 1109.024987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.024987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797606; longitude = -121.844525; captureRadius = 10; duration = 117; initialDepth = 1060.950215; finalDepth = 1059.024987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.024987 # Seafloor depth:-1109.024987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.950215 meters looking forward 0.000000 meters along route # Maximum depth: 1110.950215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.950215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798376; longitude = -121.843912; captureRadius = 10; duration = 117; initialDepth = 1061.061890; finalDepth = 1060.950215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.950215 # Seafloor depth:-1110.950215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1111.061890 meters looking forward 0.000000 meters along route # Maximum depth: 1111.061890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.061890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799205; longitude = -121.843251; captureRadius = 10; duration = 117; initialDepth = 1057.723429; finalDepth = 1061.061890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.06189 # Seafloor depth:-1111.061890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.723429 meters looking forward 0.000000 meters along route # Maximum depth: 1107.723429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.723429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800034; longitude = -121.842590; captureRadius = 10; duration = 117; initialDepth = 1053.247166; finalDepth = 1057.723429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.723429 # Seafloor depth:-1107.723429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.247166 meters looking forward 0.000000 meters along route # Maximum depth: 1103.247166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.247166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800863; longitude = -121.841929; captureRadius = 10; duration = 117; initialDepth = 1051.579857; finalDepth = 1053.247166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.247166 # Seafloor depth:-1103.247166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1101.579857 meters looking forward 0.000000 meters along route # Maximum depth: 1101.579857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.579857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801692; longitude = -121.841268; captureRadius = 10; duration = 117; initialDepth = 1052.791954; finalDepth = 1051.579857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.579857 # Seafloor depth:-1101.579857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1102.791954 meters looking forward 0.000000 meters along route # Maximum depth: 1102.791954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.791954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802522; longitude = -121.840607; captureRadius = 10; duration = 117; initialDepth = 1048.500385; finalDepth = 1052.791954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.791954 # Seafloor depth:-1102.791954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1098.500385 meters looking forward 0.000000 meters along route # Maximum depth: 1098.500385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.500385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803351; longitude = -121.839946; captureRadius = 10; duration = 117; initialDepth = 1047.513062; finalDepth = 1048.500385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.500385 # Seafloor depth:-1098.500385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1097.513062 meters looking forward 0.000000 meters along route # Maximum depth: 1097.513062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.513062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804194; longitude = -121.839274; captureRadius = 10; duration = 117; initialDepth = 1046.077086; finalDepth = 1047.513062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.513062 # Seafloor depth:-1097.513062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1096.077086 meters looking forward 0.000000 meters along route # Maximum depth: 1096.077086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.077086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805009; longitude = -121.838624; captureRadius = 10; duration = 117; initialDepth = 1041.537137; finalDepth = 1046.077086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.077086 # Seafloor depth:-1096.077086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1091.537137 meters looking forward 0.000000 meters along route # Maximum depth: 1091.537137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.537137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805927; longitude = -121.837892; captureRadius = 10; duration = 117; initialDepth = 1042.463379; finalDepth = 1041.537137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.537137 # Seafloor depth:-1091.537137 # 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 117.753835 meters # Minimum depth: 1092.463379 meters looking forward 0.000000 meters along route # Maximum depth: 1092.463379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.463379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806852; longitude = -121.837154; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1041.548893; finalDepth = 1042.463379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.463379 # Seafloor depth:-1092.463379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1091.548893 meters looking forward 0.000000 meters along route # Maximum depth: 1091.548893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.548893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806631; longitude = -121.836786; captureRadius = 10; duration = 117; initialDepth = 1037.859863; finalDepth = 1041.548893; 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:1041.548893 # Seafloor depth:-1091.548893 # 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 117.753835 meters # Minimum depth: 1087.859863 meters looking forward 0.000000 meters along route # Maximum depth: 1087.859863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.859863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806023; longitude = -121.835772; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1039.185483; finalDepth = 1037.859863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.859863 # Seafloor depth:-1087.859863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1089.185483 meters looking forward 0.000000 meters along route # Maximum depth: 1089.185483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.185483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805562; longitude = -121.836142; captureRadius = 10; duration = 117; initialDepth = 1038.967517; finalDepth = 1039.185483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.185483 # Seafloor depth:-1089.185483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1088.967517 meters looking forward 0.000000 meters along route # Maximum depth: 1088.967517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.967517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804733; longitude = -121.836806; captureRadius = 10; duration = 117; initialDepth = 1041.033632; finalDepth = 1038.967517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.967517 # Seafloor depth:-1088.967517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1091.033632 meters looking forward 0.000000 meters along route # Maximum depth: 1091.033632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.033632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803904; longitude = -121.837471; captureRadius = 10; duration = 117; initialDepth = 1041.818320; finalDepth = 1041.033632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.033632 # Seafloor depth:-1091.033632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1091.818320 meters looking forward 0.000000 meters along route # Maximum depth: 1091.818320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.818320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803034; longitude = -121.838168; captureRadius = 10; duration = 117; initialDepth = 1044.915004; finalDepth = 1041.818320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.81832 # Seafloor depth:-1091.818320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1094.915004 meters looking forward 0.000000 meters along route # Maximum depth: 1094.915004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.915004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802245; longitude = -121.838800; captureRadius = 10; duration = 117; initialDepth = 1046.091833; finalDepth = 1044.915004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.915004 # Seafloor depth:-1094.915004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1096.091833 meters looking forward 0.000000 meters along route # Maximum depth: 1096.091833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.091833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801416; longitude = -121.839464; captureRadius = 10; duration = 117; initialDepth = 1048.689683; finalDepth = 1046.091833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.091833 # Seafloor depth:-1096.091833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1098.689683 meters looking forward 0.000000 meters along route # Maximum depth: 1098.689683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.689683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800587; longitude = -121.840129; captureRadius = 10; duration = 117; initialDepth = 1051.502338; finalDepth = 1048.689683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.689683 # Seafloor depth:-1098.689683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1101.502338 meters looking forward 0.000000 meters along route # Maximum depth: 1101.502338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.502338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799758; longitude = -121.840793; captureRadius = 10; duration = 117; initialDepth = 1057.998618; finalDepth = 1051.502338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.502338 # Seafloor depth:-1101.502338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.998618 meters looking forward 0.000000 meters along route # Maximum depth: 1107.998618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.998618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798895; longitude = -121.841485; captureRadius = 10; duration = 117; initialDepth = 1056.749934; finalDepth = 1057.998618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.998618 # Seafloor depth:-1107.998618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.749934 meters looking forward 0.000000 meters along route # Maximum depth: 1106.749934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.749934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798099; longitude = -121.842122; captureRadius = 10; duration = 117; initialDepth = 1056.343945; finalDepth = 1056.749934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.749934 # Seafloor depth:-1106.749934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.343945 meters looking forward 0.000000 meters along route # Maximum depth: 1106.343945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.343945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797270; longitude = -121.842787; captureRadius = 10; duration = 117; initialDepth = 1057.055547; finalDepth = 1056.343945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.343945 # Seafloor depth:-1106.343945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.055547 meters looking forward 0.000000 meters along route # Maximum depth: 1107.055547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.055547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796441; longitude = -121.843451; captureRadius = 10; duration = 117; initialDepth = 1061.836407; finalDepth = 1057.055547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.055547 # Seafloor depth:-1107.055547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1111.836407 meters looking forward 0.000000 meters along route # Maximum depth: 1111.836407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.836407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795611; longitude = -121.844116; captureRadius = 10; duration = 117; initialDepth = 1064.293177; finalDepth = 1061.836407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.836407 # Seafloor depth:-1111.836407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.293177 meters looking forward 0.000000 meters along route # Maximum depth: 1114.293177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.293177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794756; longitude = -121.844802; captureRadius = 10; duration = 117; initialDepth = 1066.875239; finalDepth = 1064.293177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.293177 # Seafloor depth:-1114.293177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.875239 meters looking forward 0.000000 meters along route # Maximum depth: 1116.875239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.875239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793953; longitude = -121.845445; captureRadius = 10; duration = 117; initialDepth = 1061.189876; finalDepth = 1066.875239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.875239 # Seafloor depth:-1116.875239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1111.189876 meters looking forward 0.000000 meters along route # Maximum depth: 1111.189876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.189876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793124; longitude = -121.846110; captureRadius = 10; duration = 117; initialDepth = 1061.095570; finalDepth = 1061.189876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.189876 # Seafloor depth:-1111.189876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1111.095570 meters looking forward 0.000000 meters along route # Maximum depth: 1111.095570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.095570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792295; longitude = -121.846774; captureRadius = 10; duration = 117; initialDepth = 1061.581387; finalDepth = 1061.095570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.09557 # Seafloor depth:-1111.095570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1111.581387 meters looking forward 0.000000 meters along route # Maximum depth: 1111.581387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.581387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.847439; captureRadius = 10; duration = 117; initialDepth = 1060.176011; finalDepth = 1061.581387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.581387 # Seafloor depth:-1111.581387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.176011 meters looking forward 0.000000 meters along route # Maximum depth: 1110.176011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.176011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790617; longitude = -121.848119; captureRadius = 10; duration = 117; initialDepth = 1060.300977; finalDepth = 1060.176011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.176011 # Seafloor depth:-1110.176011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.300977 meters looking forward 0.000000 meters along route # Maximum depth: 1110.300977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.300977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.848768; captureRadius = 10; duration = 117; initialDepth = 1064.920670; finalDepth = 1060.300977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.300977 # Seafloor depth:-1110.300977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.920670 meters looking forward 0.000000 meters along route # Maximum depth: 1114.920670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.920670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.849432; captureRadius = 10; duration = 117; initialDepth = 1065.804606; finalDepth = 1064.920670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.92067 # Seafloor depth:-1114.920670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.804606 meters looking forward 0.000000 meters along route # Maximum depth: 1115.804606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.804606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.850097; captureRadius = 10; duration = 117; initialDepth = 1063.935574; finalDepth = 1065.804606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.804606 # Seafloor depth:-1115.804606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.935574 meters looking forward 0.000000 meters along route # Maximum depth: 1113.935574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.935574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.850761; captureRadius = 10; duration = 117; initialDepth = 1064.418691; finalDepth = 1063.935574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.935574 # Seafloor depth:-1113.935574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.418691 meters looking forward 0.000000 meters along route # Maximum depth: 1114.418691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.418691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786478; longitude = -121.851435; captureRadius = 10; duration = 117; initialDepth = 1065.219538; finalDepth = 1064.418691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.418691 # Seafloor depth:-1114.418691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.219538 meters looking forward 0.000000 meters along route # Maximum depth: 1115.219538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.219538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.852090; captureRadius = 10; duration = 117; initialDepth = 1067.430172; finalDepth = 1065.219538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.219538 # Seafloor depth:-1115.219538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.430172 meters looking forward 0.000000 meters along route # Maximum depth: 1117.430172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.430172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.852755; captureRadius = 10; duration = 117; initialDepth = 1073.743484; finalDepth = 1067.430172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.430172 # Seafloor depth:-1117.430172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1123.743484 meters looking forward 0.000000 meters along route # Maximum depth: 1123.743484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.743484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.853419; captureRadius = 10; duration = 117; initialDepth = 1064.951746; finalDepth = 1073.743484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.743484 # Seafloor depth:-1123.743484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.951746 meters looking forward 0.000000 meters along route # Maximum depth: 1114.951746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.951746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.854084; captureRadius = 10; duration = 117; initialDepth = 1063.865739; finalDepth = 1064.951746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.951746 # Seafloor depth:-1114.951746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.865739 meters looking forward 0.000000 meters along route # Maximum depth: 1113.865739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.865739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782339; longitude = -121.854752; captureRadius = 10; duration = 117; initialDepth = 1064.597710; finalDepth = 1063.865739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.865739 # Seafloor depth:-1113.865739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.597710 meters looking forward 0.000000 meters along route # Maximum depth: 1114.597710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.597710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.855413; captureRadius = 10; duration = 117; initialDepth = 1065.045356; finalDepth = 1064.597710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.59771 # Seafloor depth:-1114.597710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.045356 meters looking forward 0.000000 meters along route # Maximum depth: 1115.045356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.045356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780615; longitude = -121.856134; captureRadius = 10; duration = 117; initialDepth = 1065.160886; finalDepth = 1065.045356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.045356 # Seafloor depth:-1115.045356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.160886 meters looking forward 0.000000 meters along route # Maximum depth: 1115.160886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.160886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.856742; captureRadius = 10; duration = 117; initialDepth = 1063.532204; finalDepth = 1065.160886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.160886 # Seafloor depth:-1115.160886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.532204 meters looking forward 0.000000 meters along route # Maximum depth: 1113.532204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.532204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779027; longitude = -121.857406; captureRadius = 10; duration = 117; initialDepth = 1065.433909; finalDepth = 1063.532204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.532204 # Seafloor depth:-1113.532204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.433909 meters looking forward 0.000000 meters along route # Maximum depth: 1115.433909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.433909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.858071; captureRadius = 10; duration = 117; initialDepth = 1066.752213; finalDepth = 1065.433909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.433909 # Seafloor depth:-1115.433909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.752213 meters looking forward 0.000000 meters along route # Maximum depth: 1116.752213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.752213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.858736; captureRadius = 10; duration = 117; initialDepth = 1071.425381; finalDepth = 1066.752213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.752213 # Seafloor depth:-1116.752213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.425381 meters looking forward 0.000000 meters along route # Maximum depth: 1121.425381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.425381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776476; longitude = -121.859451; captureRadius = 10; duration = 117; initialDepth = 1066.219342; finalDepth = 1071.425381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.425381 # Seafloor depth:-1121.425381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.219342 meters looking forward 0.000000 meters along route # Maximum depth: 1116.219342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.219342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.860065; captureRadius = 10; duration = 117; initialDepth = 1065.253831; finalDepth = 1066.219342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.219342 # Seafloor depth:-1116.219342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.253831 meters looking forward 0.000000 meters along route # Maximum depth: 1115.253831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.253831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.860729; captureRadius = 10; duration = 117; initialDepth = 1069.329917; finalDepth = 1065.253831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.253831 # Seafloor depth:-1115.253831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.329917 meters looking forward 0.000000 meters along route # Maximum depth: 1119.329917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.329917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.861394; captureRadius = 10; duration = 117; initialDepth = 1072.938442; finalDepth = 1069.329917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.329917 # Seafloor depth:-1119.329917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.938442 meters looking forward 0.000000 meters along route # Maximum depth: 1122.938442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.938442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.862058; captureRadius = 10; duration = 117; initialDepth = 1078.983050; finalDepth = 1072.938442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.938442 # Seafloor depth:-1122.938442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1128.983050 meters looking forward 0.000000 meters along route # Maximum depth: 1128.983050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.983050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772337; longitude = -121.862768; captureRadius = 10; duration = 117; initialDepth = 1075.117024; finalDepth = 1078.983050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.98305 # Seafloor depth:-1128.983050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1125.117024 meters looking forward 0.000000 meters along route # Maximum depth: 1125.117024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.117024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.863387; captureRadius = 10; duration = 117; initialDepth = 1071.669946; finalDepth = 1075.117024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.117024 # Seafloor depth:-1125.117024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.669946 meters looking forward 0.000000 meters along route # Maximum depth: 1121.669946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.669946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.864052; captureRadius = 10; duration = 117; initialDepth = 1072.928270; finalDepth = 1071.669946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.669946 # Seafloor depth:-1121.669946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.928270 meters looking forward 0.000000 meters along route # Maximum depth: 1122.928270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.928270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.864716; captureRadius = 10; duration = 117; initialDepth = 1069.553382; finalDepth = 1072.928270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.92827 # Seafloor depth:-1122.928270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.553382 meters looking forward 0.000000 meters along route # Maximum depth: 1119.553382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.553382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.865381; captureRadius = 10; duration = 117; initialDepth = 1064.899334; finalDepth = 1069.553382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.553382 # Seafloor depth:-1119.553382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.899334 meters looking forward 0.000000 meters along route # Maximum depth: 1114.899334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.899334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768198; longitude = -121.866085; captureRadius = 10; duration = 117; initialDepth = 1067.947657; finalDepth = 1064.899334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.899334 # Seafloor depth:-1114.899334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.947657 meters looking forward 0.000000 meters along route # Maximum depth: 1117.947657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.947657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.866710; captureRadius = 10; duration = 117; initialDepth = 1074.006605; finalDepth = 1067.947657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.947657 # Seafloor depth:-1117.947657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1124.006605 meters looking forward 0.000000 meters along route # Maximum depth: 1124.006605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.006605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.867374; captureRadius = 10; duration = 117; initialDepth = 1066.443723; finalDepth = 1074.006605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1074.006605 # Seafloor depth:-1124.006605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.443723 meters looking forward 0.000000 meters along route # Maximum depth: 1116.443723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.443723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.868039; captureRadius = 10; duration = 117; initialDepth = 1065.493060; finalDepth = 1066.443723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.443723 # Seafloor depth:-1116.443723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.493060 meters looking forward 0.000000 meters along route # Maximum depth: 1115.493060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.493060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.868703; captureRadius = 10; duration = 117; initialDepth = 1068.319978; finalDepth = 1065.493060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.49306 # Seafloor depth:-1115.493060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1118.319978 meters looking forward 0.000000 meters along route # Maximum depth: 1118.319978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.319978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764059; longitude = -121.869402; captureRadius = 10; duration = 117; initialDepth = 1067.118483; finalDepth = 1068.319978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.319978 # Seafloor depth:-1118.319978 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.118483 meters looking forward 0.000000 meters along route # Maximum depth: 1117.118483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.118483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.870032; captureRadius = 10; duration = 117; initialDepth = 1067.952630; finalDepth = 1067.118483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.118483 # Seafloor depth:-1117.118483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.952630 meters looking forward 0.000000 meters along route # Maximum depth: 1117.952630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.952630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.870697; captureRadius = 10; duration = 117; initialDepth = 1069.653244; finalDepth = 1067.952630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.95263 # Seafloor depth:-1117.952630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.653244 meters looking forward 0.000000 meters along route # Maximum depth: 1119.653244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.653244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.871361; captureRadius = 10; duration = 117; initialDepth = 1069.489590; finalDepth = 1069.653244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.653244 # Seafloor depth:-1119.653244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.489590 meters looking forward 0.000000 meters along route # Maximum depth: 1119.489590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.489590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.872026; captureRadius = 10; duration = 117; initialDepth = 1067.928311; finalDepth = 1069.489590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.48959 # Seafloor depth:-1119.489590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.928311 meters looking forward 0.000000 meters along route # Maximum depth: 1117.928311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.928311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759921; longitude = -121.872718; captureRadius = 10; duration = 117; initialDepth = 1066.473366; finalDepth = 1067.928311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.928311 # Seafloor depth:-1117.928311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.473366 meters looking forward 0.000000 meters along route # Maximum depth: 1116.473366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.473366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.873355; captureRadius = 10; duration = 117; initialDepth = 1070.263594; finalDepth = 1066.473366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.473366 # Seafloor depth:-1116.473366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1120.263594 meters looking forward 0.000000 meters along route # Maximum depth: 1120.263594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.263594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.874020; captureRadius = 10; duration = 117; initialDepth = 1071.245736; finalDepth = 1070.263594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.263594 # Seafloor depth:-1120.263594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1121.245736 meters looking forward 0.000000 meters along route # Maximum depth: 1121.245736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.245736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.874684; captureRadius = 10; duration = 117; initialDepth = 1072.847005; finalDepth = 1071.245736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.245736 # Seafloor depth:-1121.245736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1122.847005 meters looking forward 0.000000 meters along route # Maximum depth: 1122.847005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.847005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.875349; captureRadius = 10; duration = 117; initialDepth = 1069.603882; finalDepth = 1072.847005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.847005 # Seafloor depth:-1122.847005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.603882 meters looking forward 0.000000 meters along route # Maximum depth: 1119.603882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.603882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755782; longitude = -121.876035; captureRadius = 10; duration = 117; initialDepth = 1066.611376; finalDepth = 1069.603882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.603882 # Seafloor depth:-1119.603882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.611376 meters looking forward 0.000000 meters along route # Maximum depth: 1116.611376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.611376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.876678; captureRadius = 10; duration = 117; initialDepth = 1066.646467; finalDepth = 1066.611376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.611376 # Seafloor depth:-1116.611376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.646467 meters looking forward 0.000000 meters along route # Maximum depth: 1116.646467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.646467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754057; longitude = -121.877417; captureRadius = 10; duration = 117; initialDepth = 1066.500651; finalDepth = 1066.646467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.646467 # Seafloor depth:-1116.646467 # 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 117.753835 meters # Minimum depth: 1116.500651 meters looking forward 0.000000 meters along route # Maximum depth: 1116.500651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.500651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753137; longitude = -121.878154; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1067.506958; finalDepth = 1066.500651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.500651 # Seafloor depth:-1116.500651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1117.506958 meters looking forward 0.000000 meters along route # Maximum depth: 1117.506958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.506958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752861; longitude = -121.877694; captureRadius = 10; duration = 117; initialDepth = 1067.364176; finalDepth = 1067.506958; 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:1067.506958 # Seafloor depth:-1117.506958 # 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 117.753835 meters # Minimum depth: 1117.364176 meters looking forward 0.000000 meters along route # Maximum depth: 1117.364176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.364176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752308; longitude = -121.876772; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1065.565540; finalDepth = 1067.364176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.364176 # Seafloor depth:-1117.364176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.565540 meters looking forward 0.000000 meters along route # Maximum depth: 1115.565540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.565540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.876185; captureRadius = 10; duration = 117; initialDepth = 1064.246379; finalDepth = 1065.565540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.56554 # Seafloor depth:-1115.565540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.246379 meters looking forward 0.000000 meters along route # Maximum depth: 1114.246379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.246379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753926; longitude = -121.875482; captureRadius = 10; duration = 117; initialDepth = 1065.193060; finalDepth = 1064.246379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.246379 # Seafloor depth:-1114.246379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.193060 meters looking forward 0.000000 meters along route # Maximum depth: 1115.193060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.193060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754704; longitude = -121.874863; captureRadius = 10; duration = 117; initialDepth = 1066.355279; finalDepth = 1065.193060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.19306 # Seafloor depth:-1115.193060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.355279 meters looking forward 0.000000 meters along route # Maximum depth: 1116.355279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.355279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.874202; captureRadius = 10; duration = 117; initialDepth = 1064.090504; finalDepth = 1066.355279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.355279 # Seafloor depth:-1116.355279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.090504 meters looking forward 0.000000 meters along route # Maximum depth: 1114.090504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.090504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.873540; captureRadius = 10; duration = 117; initialDepth = 1065.434117; finalDepth = 1064.090504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.090504 # Seafloor depth:-1114.090504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.434117 meters looking forward 0.000000 meters along route # Maximum depth: 1115.434117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.434117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.872879; captureRadius = 10; duration = 117; initialDepth = 1063.782840; finalDepth = 1065.434117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.434117 # Seafloor depth:-1115.434117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.782840 meters looking forward 0.000000 meters along route # Maximum depth: 1113.782840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.782840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758087; longitude = -121.872166; captureRadius = 10; duration = 117; initialDepth = 1070.947145; finalDepth = 1063.782840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.78284 # Seafloor depth:-1113.782840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1120.947145 meters looking forward 0.000000 meters along route # Maximum depth: 1120.947145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.947145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758850; longitude = -121.871557; captureRadius = 10; duration = 117; initialDepth = 1069.280007; finalDepth = 1070.947145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.947145 # Seafloor depth:-1120.947145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.280007 meters looking forward 0.000000 meters along route # Maximum depth: 1119.280007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.280007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.870896; captureRadius = 10; duration = 117; initialDepth = 1065.528626; finalDepth = 1069.280007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.280007 # Seafloor depth:-1119.280007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.528626 meters looking forward 0.000000 meters along route # Maximum depth: 1115.528626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.528626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760514; longitude = -121.870231; captureRadius = 10; duration = 117; initialDepth = 1064.237869; finalDepth = 1065.528626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.528626 # Seafloor depth:-1115.528626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.237869 meters looking forward 0.000000 meters along route # Maximum depth: 1114.237869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.237869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.869574; captureRadius = 10; duration = 117; initialDepth = 1063.148925; finalDepth = 1064.237869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.237869 # Seafloor depth:-1114.237869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.148925 meters looking forward 0.000000 meters along route # Maximum depth: 1113.148925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.148925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.868913; captureRadius = 10; duration = 117; initialDepth = 1065.510966; finalDepth = 1063.148925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.148925 # Seafloor depth:-1113.148925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.510966 meters looking forward 0.000000 meters along route # Maximum depth: 1115.510966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.510966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762996; longitude = -121.868252; captureRadius = 10; duration = 117; initialDepth = 1063.306976; finalDepth = 1065.510966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.510966 # Seafloor depth:-1115.510966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.306976 meters looking forward 0.000000 meters along route # Maximum depth: 1113.306976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.306976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.867591; captureRadius = 10; duration = 117; initialDepth = 1062.820890; finalDepth = 1063.306976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.306976 # Seafloor depth:-1113.306976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.820890 meters looking forward 0.000000 meters along route # Maximum depth: 1112.820890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.820890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764674; longitude = -121.866914; captureRadius = 10; duration = 117; initialDepth = 1068.917907; finalDepth = 1062.820890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.82089 # Seafloor depth:-1112.820890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1118.917907 meters looking forward 0.000000 meters along route # Maximum depth: 1118.917907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.917907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765483; longitude = -121.866269; captureRadius = 10; duration = 117; initialDepth = 1065.818886; finalDepth = 1068.917907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.917907 # Seafloor depth:-1118.917907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.818886 meters looking forward 0.000000 meters along route # Maximum depth: 1115.818886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.818886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766313; longitude = -121.865608; captureRadius = 10; duration = 117; initialDepth = 1062.490767; finalDepth = 1065.818886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.818886 # Seafloor depth:-1115.818886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.490767 meters looking forward 0.000000 meters along route # Maximum depth: 1112.490767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.490767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767142; longitude = -121.864947; captureRadius = 10; duration = 117; initialDepth = 1063.723981; finalDepth = 1062.490767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.490767 # Seafloor depth:-1112.490767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.723981 meters looking forward 0.000000 meters along route # Maximum depth: 1113.723981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.723981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.864286; captureRadius = 10; duration = 117; initialDepth = 1069.739161; finalDepth = 1063.723981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.723981 # Seafloor depth:-1113.723981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.739161 meters looking forward 0.000000 meters along route # Maximum depth: 1119.739161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.739161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768835; longitude = -121.863597; captureRadius = 10; duration = 117; initialDepth = 1065.748406; finalDepth = 1069.739161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.739161 # Seafloor depth:-1119.739161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.748406 meters looking forward 0.000000 meters along route # Maximum depth: 1115.748406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.748406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.862963; captureRadius = 10; duration = 117; initialDepth = 1062.461266; finalDepth = 1065.748406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.748406 # Seafloor depth:-1115.748406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.461266 meters looking forward 0.000000 meters along route # Maximum depth: 1112.461266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.461266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.862302; captureRadius = 10; duration = 117; initialDepth = 1061.847934; finalDepth = 1062.461266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.461266 # Seafloor depth:-1112.461266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1111.847934 meters looking forward 0.000000 meters along route # Maximum depth: 1111.847934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.847934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.861641; captureRadius = 10; duration = 117; initialDepth = 1063.014443; finalDepth = 1061.847934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.847934 # Seafloor depth:-1111.847934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.014443 meters looking forward 0.000000 meters along route # Maximum depth: 1113.014443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.014443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.860980; captureRadius = 10; duration = 117; initialDepth = 1064.425868; finalDepth = 1063.014443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.014443 # Seafloor depth:-1113.014443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.425868 meters looking forward 0.000000 meters along route # Maximum depth: 1114.425868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.425868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772995; longitude = -121.860280; captureRadius = 10; duration = 117; initialDepth = 1065.135519; finalDepth = 1064.425868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.425868 # Seafloor depth:-1114.425868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.135519 meters looking forward 0.000000 meters along route # Maximum depth: 1115.135519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.135519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.859658; captureRadius = 10; duration = 117; initialDepth = 1063.750660; finalDepth = 1065.135519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.135519 # Seafloor depth:-1115.135519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.750660 meters looking forward 0.000000 meters along route # Maximum depth: 1113.750660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.750660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.858997; captureRadius = 10; duration = 117; initialDepth = 1066.416717; finalDepth = 1063.750660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.75066 # Seafloor depth:-1113.750660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.416717 meters looking forward 0.000000 meters along route # Maximum depth: 1116.416717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.416717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.858336; captureRadius = 10; duration = 117; initialDepth = 1062.801944; finalDepth = 1066.416717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.416717 # Seafloor depth:-1116.416717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.801944 meters looking forward 0.000000 meters along route # Maximum depth: 1112.801944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.801944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.857675; captureRadius = 10; duration = 117; initialDepth = 1062.325707; finalDepth = 1062.801944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.801944 # Seafloor depth:-1112.801944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.325707 meters looking forward 0.000000 meters along route # Maximum depth: 1112.325707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.325707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777156; longitude = -121.856963; captureRadius = 10; duration = 117; initialDepth = 1062.422490; finalDepth = 1062.325707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.325707 # Seafloor depth:-1112.325707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.422490 meters looking forward 0.000000 meters along route # Maximum depth: 1112.422490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.422490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777922; longitude = -121.856353; captureRadius = 10; duration = 117; initialDepth = 1061.221017; finalDepth = 1062.422490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.42249 # Seafloor depth:-1112.422490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1111.221017 meters looking forward 0.000000 meters along route # Maximum depth: 1111.221017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.221017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.855692; captureRadius = 10; duration = 117; initialDepth = 1064.006145; finalDepth = 1061.221017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.221017 # Seafloor depth:-1111.221017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.006145 meters looking forward 0.000000 meters along route # Maximum depth: 1114.006145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.006145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779582; longitude = -121.855029; captureRadius = 10; duration = 117; initialDepth = 1063.695833; finalDepth = 1064.006145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.006145 # Seafloor depth:-1114.006145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.695833 meters looking forward 0.000000 meters along route # Maximum depth: 1113.695833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.695833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.854369; captureRadius = 10; duration = 117; initialDepth = 1062.540802; finalDepth = 1063.695833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.695833 # Seafloor depth:-1113.695833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.540802 meters looking forward 0.000000 meters along route # Maximum depth: 1112.540802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.540802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.853708; captureRadius = 10; duration = 117; initialDepth = 1059.695276; finalDepth = 1062.540802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.540802 # Seafloor depth:-1112.540802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.695276 meters looking forward 0.000000 meters along route # Maximum depth: 1109.695276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.695276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782068; longitude = -121.853047; captureRadius = 10; duration = 117; initialDepth = 1066.587234; finalDepth = 1059.695276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.695276 # Seafloor depth:-1109.695276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.587234 meters looking forward 0.000000 meters along route # Maximum depth: 1116.587234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.587234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.852386; captureRadius = 10; duration = 117; initialDepth = 1064.758955; finalDepth = 1066.587234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.587234 # Seafloor depth:-1116.587234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.758955 meters looking forward 0.000000 meters along route # Maximum depth: 1114.758955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.758955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783743; longitude = -121.851712; captureRadius = 10; duration = 117; initialDepth = 1065.960303; finalDepth = 1064.758955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.758955 # Seafloor depth:-1114.758955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.960303 meters looking forward 0.000000 meters along route # Maximum depth: 1115.960303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.960303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.851064; captureRadius = 10; duration = 117; initialDepth = 1060.844966; finalDepth = 1065.960303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.960303 # Seafloor depth:-1115.960303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.844966 meters looking forward 0.000000 meters along route # Maximum depth: 1110.844966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.844966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.850403; captureRadius = 10; duration = 117; initialDepth = 1063.106837; finalDepth = 1060.844966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.844966 # Seafloor depth:-1110.844966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.106837 meters looking forward 0.000000 meters along route # Maximum depth: 1113.106837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.106837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786214; longitude = -121.849742; captureRadius = 10; duration = 117; initialDepth = 1062.074047; finalDepth = 1063.106837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.106837 # Seafloor depth:-1113.106837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.074047 meters looking forward 0.000000 meters along route # Maximum depth: 1112.074047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.074047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.849081; captureRadius = 10; duration = 117; initialDepth = 1064.079414; finalDepth = 1062.074047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.074047 # Seafloor depth:-1112.074047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.079414 meters looking forward 0.000000 meters along route # Maximum depth: 1114.079414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.079414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787903; longitude = -121.848395; captureRadius = 10; duration = 117; initialDepth = 1058.864704; finalDepth = 1064.079414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.079414 # Seafloor depth:-1114.079414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1108.864704 meters looking forward 0.000000 meters along route # Maximum depth: 1108.864704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.864704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.847759; captureRadius = 10; duration = 117; initialDepth = 1057.911068; finalDepth = 1058.864704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.864704 # Seafloor depth:-1108.864704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.911068 meters looking forward 0.000000 meters along route # Maximum depth: 1107.911068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.911068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.847098; captureRadius = 10; duration = 117; initialDepth = 1056.773190; finalDepth = 1057.911068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.911068 # Seafloor depth:-1107.911068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.773190 meters looking forward 0.000000 meters along route # Maximum depth: 1106.773190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.773190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790360; longitude = -121.846437; captureRadius = 10; duration = 117; initialDepth = 1055.607368; finalDepth = 1056.773190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.77319 # Seafloor depth:-1106.773190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.607368 meters looking forward 0.000000 meters along route # Maximum depth: 1105.607368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.607368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791189; longitude = -121.845776; captureRadius = 10; duration = 117; initialDepth = 1058.656728; finalDepth = 1055.607368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.607368 # Seafloor depth:-1105.607368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1108.656728 meters looking forward 0.000000 meters along route # Maximum depth: 1108.656728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.656728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792064; longitude = -121.845078; captureRadius = 10; duration = 117; initialDepth = 1062.453659; finalDepth = 1058.656728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.656728 # Seafloor depth:-1108.656728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.453659 meters looking forward 0.000000 meters along route # Maximum depth: 1112.453659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.453659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792847; longitude = -121.844453; captureRadius = 10; duration = 117; initialDepth = 1062.164930; finalDepth = 1062.453659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.453659 # Seafloor depth:-1112.453659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.164930 meters looking forward 0.000000 meters along route # Maximum depth: 1112.164930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.164930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.843792; captureRadius = 10; duration = 117; initialDepth = 1062.353776; finalDepth = 1062.164930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.16493 # Seafloor depth:-1112.164930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.353776 meters looking forward 0.000000 meters along route # Maximum depth: 1112.353776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.353776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.843131; captureRadius = 10; duration = 117; initialDepth = 1059.700953; finalDepth = 1062.353776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.353776 # Seafloor depth:-1112.353776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.700953 meters looking forward 0.000000 meters along route # Maximum depth: 1109.700953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.700953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795335; longitude = -121.842470; captureRadius = 10; duration = 117; initialDepth = 1056.345077; finalDepth = 1059.700953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.700953 # Seafloor depth:-1109.700953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.345077 meters looking forward 0.000000 meters along route # Maximum depth: 1106.345077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.345077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796224; longitude = -121.841761; captureRadius = 10; duration = 117; initialDepth = 1056.115166; finalDepth = 1056.345077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.345077 # Seafloor depth:-1106.345077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.115166 meters looking forward 0.000000 meters along route # Maximum depth: 1106.115166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.115166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -121.841148; captureRadius = 10; duration = 117; initialDepth = 1057.012098; finalDepth = 1056.115166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.115166 # Seafloor depth:-1106.115166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.012098 meters looking forward 0.000000 meters along route # Maximum depth: 1107.012098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.012098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797823; longitude = -121.840487; captureRadius = 10; duration = 117; initialDepth = 1054.362468; finalDepth = 1057.012098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.012098 # Seafloor depth:-1107.012098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.362468 meters looking forward 0.000000 meters along route # Maximum depth: 1104.362468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.362468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798652; longitude = -121.839826; captureRadius = 10; duration = 117; initialDepth = 1049.739042; finalDepth = 1054.362468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.362468 # Seafloor depth:-1104.362468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1099.739042 meters looking forward 0.000000 meters along route # Maximum depth: 1099.739042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.739042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799481; longitude = -121.839165; captureRadius = 10; duration = 117; initialDepth = 1045.138052; finalDepth = 1049.739042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.739042 # Seafloor depth:-1099.739042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1095.138052 meters looking forward 0.000000 meters along route # Maximum depth: 1095.138052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.138052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800310; longitude = -121.838504; captureRadius = 10; duration = 117; initialDepth = 1042.732047; finalDepth = 1045.138052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.138052 # Seafloor depth:-1095.138052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1092.732047 meters looking forward 0.000000 meters along route # Maximum depth: 1092.732047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.732047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801140; longitude = -121.837843; captureRadius = 10; duration = 117; initialDepth = 1039.675279; finalDepth = 1042.732047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.732047 # Seafloor depth:-1092.732047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1089.675279 meters looking forward 0.000000 meters along route # Maximum depth: 1089.675279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.675279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801969; longitude = -121.837182; captureRadius = 10; duration = 117; initialDepth = 1038.891626; finalDepth = 1039.675279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.675279 # Seafloor depth:-1089.675279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1088.891626 meters looking forward 0.000000 meters along route # Maximum depth: 1088.891626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.891626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802812; longitude = -121.836510; captureRadius = 10; duration = 117; initialDepth = 1038.304731; finalDepth = 1038.891626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.891626 # Seafloor depth:-1088.891626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1088.304731 meters looking forward 0.000000 meters along route # Maximum depth: 1088.304731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.304731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803627; longitude = -121.835860; captureRadius = 10; duration = 117; initialDepth = 1042.129948; finalDepth = 1038.304731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.304731 # Seafloor depth:-1088.304731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1092.129948 meters looking forward 0.000000 meters along route # Maximum depth: 1092.129948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.129948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804545; longitude = -121.835128; captureRadius = 10; duration = 117; initialDepth = 1038.343587; finalDepth = 1042.129948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.129948 # Seafloor depth:-1092.129948 # 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 117.753835 meters # Minimum depth: 1088.343587 meters looking forward 0.000000 meters along route # Maximum depth: 1088.343587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.343587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805470; longitude = -121.834390; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1037.581307; finalDepth = 1038.343587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.343587 # Seafloor depth:-1088.343587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1087.581307 meters looking forward 0.000000 meters along route # Maximum depth: 1087.581307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.581307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805249; longitude = -121.834022; captureRadius = 10; duration = 117; initialDepth = 1034.493164; finalDepth = 1037.581307; 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:1037.581307 # Seafloor depth:-1087.581307 # 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 117.753835 meters # Minimum depth: 1084.493164 meters looking forward 0.000000 meters along route # Maximum depth: 1084.493164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.493164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804641; longitude = -121.833008; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1037.026627; finalDepth = 1034.493164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.493164 # Seafloor depth:-1084.493164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1087.026627 meters looking forward 0.000000 meters along route # Maximum depth: 1087.026627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.026627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803904; longitude = -121.833596; captureRadius = 10; duration = 117; initialDepth = 1037.952681; finalDepth = 1037.026627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.026627 # Seafloor depth:-1087.026627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1087.952681 meters looking forward 0.000000 meters along route # Maximum depth: 1087.952681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.952681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803022; longitude = -121.834298; captureRadius = 10; duration = 117; initialDepth = 1038.415971; finalDepth = 1037.952681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.952681 # Seafloor depth:-1087.952681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1088.415971 meters looking forward 0.000000 meters along route # Maximum depth: 1088.415971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.415971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802245; longitude = -121.834917; captureRadius = 10; duration = 117; initialDepth = 1038.238888; finalDepth = 1038.415971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.415971 # Seafloor depth:-1088.415971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1088.238888 meters looking forward 0.000000 meters along route # Maximum depth: 1088.238888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.238888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801416; longitude = -121.835578; captureRadius = 10; duration = 117; initialDepth = 1038.399714; finalDepth = 1038.238888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.238888 # Seafloor depth:-1088.238888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1088.399714 meters looking forward 0.000000 meters along route # Maximum depth: 1088.399714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.399714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800587; longitude = -121.836239; captureRadius = 10; duration = 117; initialDepth = 1042.080828; finalDepth = 1038.399714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.399714 # Seafloor depth:-1088.399714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1092.080828 meters looking forward 0.000000 meters along route # Maximum depth: 1092.080828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.080828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799758; longitude = -121.836900; captureRadius = 10; duration = 117; initialDepth = 1045.979611; finalDepth = 1042.080828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.080828 # Seafloor depth:-1092.080828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1095.979611 meters looking forward 0.000000 meters along route # Maximum depth: 1095.979611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.979611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798860; longitude = -121.837615; captureRadius = 10; duration = 117; initialDepth = 1048.785314; finalDepth = 1045.979611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.979611 # Seafloor depth:-1095.979611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1098.785314 meters looking forward 0.000000 meters along route # Maximum depth: 1098.785314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.785314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798099; longitude = -121.838221; captureRadius = 10; duration = 117; initialDepth = 1054.333099; finalDepth = 1048.785314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.785314 # Seafloor depth:-1098.785314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.333099 meters looking forward 0.000000 meters along route # Maximum depth: 1104.333099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.333099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797270; longitude = -121.838882; captureRadius = 10; duration = 117; initialDepth = 1056.571510; finalDepth = 1054.333099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.333099 # Seafloor depth:-1104.333099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.571510 meters looking forward 0.000000 meters along route # Maximum depth: 1106.571510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.571510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796432; longitude = -121.839550; captureRadius = 10; duration = 117; initialDepth = 1055.637753; finalDepth = 1056.571510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.57151 # Seafloor depth:-1106.571510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.637753 meters looking forward 0.000000 meters along route # Maximum depth: 1105.637753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.637753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795611; longitude = -121.840204; captureRadius = 10; duration = 117; initialDepth = 1060.779566; finalDepth = 1055.637753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.637753 # Seafloor depth:-1105.637753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.779566 meters looking forward 0.000000 meters along route # Maximum depth: 1110.779566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.779566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794782; longitude = -121.840864; captureRadius = 10; duration = 117; initialDepth = 1060.504372; finalDepth = 1060.779566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.779566 # Seafloor depth:-1110.779566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.504372 meters looking forward 0.000000 meters along route # Maximum depth: 1110.504372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.504372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793953; longitude = -121.841525; captureRadius = 10; duration = 117; initialDepth = 1061.353391; finalDepth = 1060.504372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.504372 # Seafloor depth:-1110.504372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1111.353391 meters looking forward 0.000000 meters along route # Maximum depth: 1111.353391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.353391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793124; longitude = -121.842186; captureRadius = 10; duration = 117; initialDepth = 1056.351413; finalDepth = 1061.353391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.353391 # Seafloor depth:-1111.353391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.351413 meters looking forward 0.000000 meters along route # Maximum depth: 1106.351413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.351413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792269; longitude = -121.842867; captureRadius = 10; duration = 117; initialDepth = 1056.697954; finalDepth = 1056.351413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.351413 # Seafloor depth:-1106.351413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.697954 meters looking forward 0.000000 meters along route # Maximum depth: 1106.697954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.697954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.843507; captureRadius = 10; duration = 117; initialDepth = 1055.819509; finalDepth = 1056.697954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.697954 # Seafloor depth:-1106.697954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.819509 meters looking forward 0.000000 meters along route # Maximum depth: 1105.819509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.819509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790636; longitude = -121.844168; captureRadius = 10; duration = 117; initialDepth = 1052.446587; finalDepth = 1055.819509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.819509 # Seafloor depth:-1105.819509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1102.446587 meters looking forward 0.000000 meters along route # Maximum depth: 1102.446587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.446587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.844829; captureRadius = 10; duration = 117; initialDepth = 1052.435799; finalDepth = 1052.446587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.446587 # Seafloor depth:-1102.446587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1102.435799 meters looking forward 0.000000 meters along route # Maximum depth: 1102.435799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.435799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.845490; captureRadius = 10; duration = 117; initialDepth = 1059.115419; finalDepth = 1052.435799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.435799 # Seafloor depth:-1102.435799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.115419 meters looking forward 0.000000 meters along route # Maximum depth: 1109.115419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.115419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788107; longitude = -121.846184; captureRadius = 10; duration = 117; initialDepth = 1059.411016; finalDepth = 1059.115419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.115419 # Seafloor depth:-1109.115419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.411016 meters looking forward 0.000000 meters along route # Maximum depth: 1109.411016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.411016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.846811; captureRadius = 10; duration = 117; initialDepth = 1059.220991; finalDepth = 1059.411016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.411016 # Seafloor depth:-1109.411016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.220991 meters looking forward 0.000000 meters along route # Maximum depth: 1109.220991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.220991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.847472; captureRadius = 10; duration = 117; initialDepth = 1056.866943; finalDepth = 1059.220991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.220991 # Seafloor depth:-1109.220991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.866943 meters looking forward 0.000000 meters along route # Maximum depth: 1106.866943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.866943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.848133; captureRadius = 10; duration = 117; initialDepth = 1058.226032; finalDepth = 1056.866943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.866943 # Seafloor depth:-1106.866943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1108.226032 meters looking forward 0.000000 meters along route # Maximum depth: 1108.226032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.226032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.848794; captureRadius = 10; duration = 117; initialDepth = 1059.509194; finalDepth = 1058.226032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.226032 # Seafloor depth:-1108.226032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.509194 meters looking forward 0.000000 meters along route # Maximum depth: 1109.509194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.509194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783945; longitude = -121.849501; captureRadius = 10; duration = 117; initialDepth = 1061.677923; finalDepth = 1059.509194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.509194 # Seafloor depth:-1109.509194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1111.677923 meters looking forward 0.000000 meters along route # Maximum depth: 1111.677923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.677923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.850115; captureRadius = 10; duration = 117; initialDepth = 1066.335924; finalDepth = 1061.677923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.677923 # Seafloor depth:-1111.677923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.335924 meters looking forward 0.000000 meters along route # Maximum depth: 1116.335924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.335924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.850776; captureRadius = 10; duration = 117; initialDepth = 1055.706615; finalDepth = 1066.335924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.335924 # Seafloor depth:-1116.335924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.706615 meters looking forward 0.000000 meters along route # Maximum depth: 1105.706615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.706615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.851437; captureRadius = 10; duration = 117; initialDepth = 1060.845042; finalDepth = 1055.706615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.706615 # Seafloor depth:-1105.706615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.845042 meters looking forward 0.000000 meters along route # Maximum depth: 1110.845042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.845042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780686; longitude = -121.852098; captureRadius = 10; duration = 117; initialDepth = 1059.862975; finalDepth = 1060.845042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.845042 # Seafloor depth:-1110.845042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.862975 meters looking forward 0.000000 meters along route # Maximum depth: 1109.862975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.862975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.852758; captureRadius = 10; duration = 117; initialDepth = 1058.389314; finalDepth = 1059.862975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.862975 # Seafloor depth:-1109.862975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1108.389314 meters looking forward 0.000000 meters along route # Maximum depth: 1108.389314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.389314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779027; longitude = -121.853419; captureRadius = 10; duration = 117; initialDepth = 1059.057694; finalDepth = 1058.389314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.389314 # Seafloor depth:-1108.389314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.057694 meters looking forward 0.000000 meters along route # Maximum depth: 1109.057694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.057694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.854080; captureRadius = 10; duration = 117; initialDepth = 1059.500067; finalDepth = 1059.057694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.057694 # Seafloor depth:-1109.057694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.500067 meters looking forward 0.000000 meters along route # Maximum depth: 1109.500067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.500067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777354; longitude = -121.854752; captureRadius = 10; duration = 117; initialDepth = 1059.840541; finalDepth = 1059.500067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.500067 # Seafloor depth:-1109.500067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.840541 meters looking forward 0.000000 meters along route # Maximum depth: 1109.840541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.840541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776540; longitude = -121.855401; captureRadius = 10; duration = 117; initialDepth = 1061.417164; finalDepth = 1059.840541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.840541 # Seafloor depth:-1109.840541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1111.417164 meters looking forward 0.000000 meters along route # Maximum depth: 1111.417164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.417164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.856062; captureRadius = 10; duration = 117; initialDepth = 1062.785713; finalDepth = 1061.417164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.417164 # Seafloor depth:-1111.417164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.785713 meters looking forward 0.000000 meters along route # Maximum depth: 1112.785713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.785713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.856723; captureRadius = 10; duration = 117; initialDepth = 1061.697759; finalDepth = 1062.785713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.785713 # Seafloor depth:-1112.785713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1111.697759 meters looking forward 0.000000 meters along route # Maximum depth: 1111.697759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.697759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.857384; captureRadius = 10; duration = 117; initialDepth = 1059.943997; finalDepth = 1061.697759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.697759 # Seafloor depth:-1111.697759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.943997 meters looking forward 0.000000 meters along route # Maximum depth: 1109.943997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.943997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773192; longitude = -121.858069; captureRadius = 10; duration = 117; initialDepth = 1058.969800; finalDepth = 1059.943997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.943997 # Seafloor depth:-1109.943997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1108.969800 meters looking forward 0.000000 meters along route # Maximum depth: 1108.969800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.969800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772394; longitude = -121.858705; captureRadius = 10; duration = 117; initialDepth = 1063.213694; finalDepth = 1058.969800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.9698 # Seafloor depth:-1108.969800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.213694 meters looking forward 0.000000 meters along route # Maximum depth: 1113.213694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.213694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.859366; captureRadius = 10; duration = 117; initialDepth = 1062.470764; finalDepth = 1063.213694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.213694 # Seafloor depth:-1113.213694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.470764 meters looking forward 0.000000 meters along route # Maximum depth: 1112.470764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.470764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.860027; captureRadius = 10; duration = 117; initialDepth = 1059.787678; finalDepth = 1062.470764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.470764 # Seafloor depth:-1112.470764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.787678 meters looking forward 0.000000 meters along route # Maximum depth: 1109.787678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.787678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.860688; captureRadius = 10; duration = 117; initialDepth = 1065.115548; finalDepth = 1059.787678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.787678 # Seafloor depth:-1109.787678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.115548 meters looking forward 0.000000 meters along route # Maximum depth: 1115.115548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.115548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769030; longitude = -121.861386; captureRadius = 10; duration = 117; initialDepth = 1066.780942; finalDepth = 1065.115548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.115548 # Seafloor depth:-1115.115548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.780942 meters looking forward 0.000000 meters along route # Maximum depth: 1116.780942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.780942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768247; longitude = -121.862009; captureRadius = 10; duration = 117; initialDepth = 1060.040901; finalDepth = 1066.780942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.780942 # Seafloor depth:-1116.780942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.040901 meters looking forward 0.000000 meters along route # Maximum depth: 1110.040901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.040901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.862670; captureRadius = 10; duration = 117; initialDepth = 1057.751620; finalDepth = 1060.040901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.040901 # Seafloor depth:-1110.040901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.751620 meters looking forward 0.000000 meters along route # Maximum depth: 1107.751620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.751620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.863331; captureRadius = 10; duration = 117; initialDepth = 1059.255917; finalDepth = 1057.751620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.75162 # Seafloor depth:-1107.751620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.255917 meters looking forward 0.000000 meters along route # Maximum depth: 1109.255917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.255917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.863992; captureRadius = 10; duration = 117; initialDepth = 1069.771620; finalDepth = 1059.255917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.255917 # Seafloor depth:-1109.255917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1119.771620 meters looking forward 0.000000 meters along route # Maximum depth: 1119.771620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.771620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764867; longitude = -121.864703; captureRadius = 10; duration = 117; initialDepth = 1065.510941; finalDepth = 1069.771620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.77162 # Seafloor depth:-1119.771620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1115.510941 meters looking forward 0.000000 meters along route # Maximum depth: 1115.510941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.510941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764101; longitude = -121.865313; captureRadius = 10; duration = 117; initialDepth = 1059.496923; finalDepth = 1065.510941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.510941 # Seafloor depth:-1115.510941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.496923 meters looking forward 0.000000 meters along route # Maximum depth: 1109.496923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.496923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.865974; captureRadius = 10; duration = 117; initialDepth = 1060.636205; finalDepth = 1059.496923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.496923 # Seafloor depth:-1109.496923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.636205 meters looking forward 0.000000 meters along route # Maximum depth: 1110.636205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.636205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762439; longitude = -121.866638; captureRadius = 10; duration = 117; initialDepth = 1060.830993; finalDepth = 1060.636205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.636205 # Seafloor depth:-1110.636205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.830993 meters looking forward 0.000000 meters along route # Maximum depth: 1110.830993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.830993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.867295; captureRadius = 10; duration = 117; initialDepth = 1059.592936; finalDepth = 1060.830993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.830993 # Seafloor depth:-1110.830993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.592936 meters looking forward 0.000000 meters along route # Maximum depth: 1109.592936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.592936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.867956; captureRadius = 10; duration = 117; initialDepth = 1062.980220; finalDepth = 1059.592936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.592936 # Seafloor depth:-1109.592936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.980220 meters looking forward 0.000000 meters along route # Maximum depth: 1112.980220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.980220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.868617; captureRadius = 10; duration = 117; initialDepth = 1062.983550; finalDepth = 1062.980220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.98022 # Seafloor depth:-1112.980220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.983550 meters looking forward 0.000000 meters along route # Maximum depth: 1112.983550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.983550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.869278; captureRadius = 10; duration = 117; initialDepth = 1060.511708; finalDepth = 1062.983550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.98355 # Seafloor depth:-1112.983550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.511708 meters looking forward 0.000000 meters along route # Maximum depth: 1110.511708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.511708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758277; longitude = -121.869954; captureRadius = 10; duration = 117; initialDepth = 1062.803548; finalDepth = 1060.511708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.511708 # Seafloor depth:-1110.511708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.803548 meters looking forward 0.000000 meters along route # Maximum depth: 1112.803548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.803548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.870599; captureRadius = 10; duration = 117; initialDepth = 1060.472850; finalDepth = 1062.803548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.803548 # Seafloor depth:-1112.803548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.472850 meters looking forward 0.000000 meters along route # Maximum depth: 1110.472850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.472850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.871260; captureRadius = 10; duration = 117; initialDepth = 1063.550872; finalDepth = 1060.472850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.47285 # Seafloor depth:-1110.472850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.550872 meters looking forward 0.000000 meters along route # Maximum depth: 1113.550872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.550872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.871921; captureRadius = 10; duration = 117; initialDepth = 1066.194059; finalDepth = 1063.550872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.550872 # Seafloor depth:-1113.550872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.194059 meters looking forward 0.000000 meters along route # Maximum depth: 1116.194059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.194059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.872582; captureRadius = 10; duration = 117; initialDepth = 1070.241788; finalDepth = 1066.194059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.194059 # Seafloor depth:-1116.194059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1120.241788 meters looking forward 0.000000 meters along route # Maximum depth: 1120.241788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.241788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754115; longitude = -121.873271; captureRadius = 10; duration = 117; initialDepth = 1060.121777; finalDepth = 1070.241788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.241788 # Seafloor depth:-1120.241788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.121777 meters looking forward 0.000000 meters along route # Maximum depth: 1110.121777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.121777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.873903; captureRadius = 10; duration = 117; initialDepth = 1060.021841; finalDepth = 1060.121777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.121777 # Seafloor depth:-1110.121777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.021841 meters looking forward 0.000000 meters along route # Maximum depth: 1110.021841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.021841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752380; longitude = -121.874653; captureRadius = 10; duration = 117; initialDepth = 1061.094727; finalDepth = 1060.021841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.021841 # Seafloor depth:-1110.021841 # 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 117.753835 meters # Minimum depth: 1111.094727 meters looking forward 0.000000 meters along route # Maximum depth: 1111.094727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.094727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751571; longitude = -121.875298; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1059.598478; finalDepth = 1061.094727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.094727 # Seafloor depth:-1111.094727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.598478 meters looking forward 0.000000 meters along route # Maximum depth: 1109.598478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.598478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751424; longitude = -121.874930; captureRadius = 10; duration = 117; initialDepth = 1063.512695; finalDepth = 1059.598478; 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:1059.598478 # Seafloor depth:-1109.598478 # 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 117.753835 meters # Minimum depth: 1113.512695 meters looking forward 0.000000 meters along route # Maximum depth: 1113.512695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.512695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751018; longitude = -121.873916; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1060.071934; finalDepth = 1063.512695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.512695 # Seafloor depth:-1113.512695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.071934 meters looking forward 0.000000 meters along route # Maximum depth: 1110.071934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.071934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.873619; captureRadius = 10; duration = 117; initialDepth = 1058.315108; finalDepth = 1060.071934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.071934 # Seafloor depth:-1110.071934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1108.315108 meters looking forward 0.000000 meters along route # Maximum depth: 1108.315108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.315108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.872951; captureRadius = 10; duration = 117; initialDepth = 1059.620000; finalDepth = 1058.315108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.315108 # Seafloor depth:-1108.315108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.620000 meters looking forward 0.000000 meters along route # Maximum depth: 1109.620000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.620000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.872283; captureRadius = 10; duration = 117; initialDepth = 1059.996153; finalDepth = 1059.620000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.62 # Seafloor depth:-1109.620000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.996153 meters looking forward 0.000000 meters along route # Maximum depth: 1109.996153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.996153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753876; longitude = -121.871613; captureRadius = 10; duration = 117; initialDepth = 1057.869176; finalDepth = 1059.996153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.996153 # Seafloor depth:-1109.996153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.869176 meters looking forward 0.000000 meters along route # Maximum depth: 1107.869176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.869176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754704; longitude = -121.870946; captureRadius = 10; duration = 117; initialDepth = 1059.252495; finalDepth = 1057.869176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.869176 # Seafloor depth:-1107.869176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.252495 meters looking forward 0.000000 meters along route # Maximum depth: 1109.252495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.252495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755591; longitude = -121.870231; captureRadius = 10; duration = 117; initialDepth = 1063.506548; finalDepth = 1059.252495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.252495 # Seafloor depth:-1109.252495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.506548 meters looking forward 0.000000 meters along route # Maximum depth: 1113.506548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.506548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.869609; captureRadius = 10; duration = 117; initialDepth = 1064.869443; finalDepth = 1063.506548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.506548 # Seafloor depth:-1113.506548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.869443 meters looking forward 0.000000 meters along route # Maximum depth: 1114.869443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.869443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.868941; captureRadius = 10; duration = 117; initialDepth = 1060.477779; finalDepth = 1064.869443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.869443 # Seafloor depth:-1114.869443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.477779 meters looking forward 0.000000 meters along route # Maximum depth: 1110.477779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.477779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.868273; captureRadius = 10; duration = 117; initialDepth = 1057.402943; finalDepth = 1060.477779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.477779 # Seafloor depth:-1110.477779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.402943 meters looking forward 0.000000 meters along route # Maximum depth: 1107.402943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.402943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758850; longitude = -121.867605; captureRadius = 10; duration = 117; initialDepth = 1056.706271; finalDepth = 1057.402943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.402943 # Seafloor depth:-1107.402943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.706271 meters looking forward 0.000000 meters along route # Maximum depth: 1106.706271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.706271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759707; longitude = -121.866914; captureRadius = 10; duration = 117; initialDepth = 1056.555150; finalDepth = 1056.706271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.706271 # Seafloor depth:-1106.706271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.555150 meters looking forward 0.000000 meters along route # Maximum depth: 1106.555150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.555150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.866268; captureRadius = 10; duration = 117; initialDepth = 1060.934464; finalDepth = 1056.555150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.55515 # Seafloor depth:-1106.555150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.934464 meters looking forward 0.000000 meters along route # Maximum depth: 1110.934464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.934464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.865600; captureRadius = 10; duration = 117; initialDepth = 1057.094419; finalDepth = 1060.934464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.934464 # Seafloor depth:-1110.934464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.094419 meters looking forward 0.000000 meters along route # Maximum depth: 1107.094419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.094419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.864931; captureRadius = 10; duration = 117; initialDepth = 1060.898587; finalDepth = 1057.094419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.094419 # Seafloor depth:-1107.094419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.898587 meters looking forward 0.000000 meters along route # Maximum depth: 1110.898587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.898587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762996; longitude = -121.864263; captureRadius = 10; duration = 117; initialDepth = 1064.651957; finalDepth = 1060.898587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.898587 # Seafloor depth:-1110.898587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1114.651957 meters looking forward 0.000000 meters along route # Maximum depth: 1114.651957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.651957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.863595; captureRadius = 10; duration = 117; initialDepth = 1057.673147; finalDepth = 1064.651957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.651957 # Seafloor depth:-1114.651957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.673147 meters looking forward 0.000000 meters along route # Maximum depth: 1107.673147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.673147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.862926; captureRadius = 10; duration = 117; initialDepth = 1059.647064; finalDepth = 1057.673147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.673147 # Seafloor depth:-1107.673147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.647064 meters looking forward 0.000000 meters along route # Maximum depth: 1109.647064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.647064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765537; longitude = -121.862215; captureRadius = 10; duration = 117; initialDepth = 1055.418025; finalDepth = 1059.647064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.647064 # Seafloor depth:-1109.647064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.418025 meters looking forward 0.000000 meters along route # Maximum depth: 1105.418025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.418025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766313; longitude = -121.861590; captureRadius = 10; duration = 117; initialDepth = 1057.380004; finalDepth = 1055.418025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.418025 # Seafloor depth:-1105.418025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.380004 meters looking forward 0.000000 meters along route # Maximum depth: 1107.380004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.380004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767142; longitude = -121.860922; captureRadius = 10; duration = 117; initialDepth = 1066.158270; finalDepth = 1057.380004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.380004 # Seafloor depth:-1107.380004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1116.158270 meters looking forward 0.000000 meters along route # Maximum depth: 1116.158270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.158270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.860253; captureRadius = 10; duration = 117; initialDepth = 1063.804647; finalDepth = 1066.158270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.15827 # Seafloor depth:-1116.158270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1113.804647 meters looking forward 0.000000 meters along route # Maximum depth: 1113.804647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.804647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.859585; captureRadius = 10; duration = 117; initialDepth = 1057.453538; finalDepth = 1063.804647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.804647 # Seafloor depth:-1113.804647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.453538 meters looking forward 0.000000 meters along route # Maximum depth: 1107.453538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.453538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769652; longitude = -121.858898; captureRadius = 10; duration = 117; initialDepth = 1055.929457; finalDepth = 1057.453538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.453538 # Seafloor depth:-1107.453538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.929457 meters looking forward 0.000000 meters along route # Maximum depth: 1105.929457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.929457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.858248; captureRadius = 10; duration = 117; initialDepth = 1055.669931; finalDepth = 1055.929457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.929457 # Seafloor depth:-1105.929457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.669931 meters looking forward 0.000000 meters along route # Maximum depth: 1105.669931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.669931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.857580; captureRadius = 10; duration = 117; initialDepth = 1058.174012; finalDepth = 1055.669931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.669931 # Seafloor depth:-1105.669931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1108.174012 meters looking forward 0.000000 meters along route # Maximum depth: 1108.174012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.174012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.856912; captureRadius = 10; duration = 117; initialDepth = 1055.552097; finalDepth = 1058.174012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.174012 # Seafloor depth:-1108.174012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.552097 meters looking forward 0.000000 meters along route # Maximum depth: 1105.552097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.552097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.856243; captureRadius = 10; duration = 117; initialDepth = 1060.275798; finalDepth = 1055.552097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.552097 # Seafloor depth:-1105.552097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.275798 meters looking forward 0.000000 meters along route # Maximum depth: 1110.275798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.275798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.855575; captureRadius = 10; duration = 117; initialDepth = 1059.157786; finalDepth = 1060.275798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.275798 # Seafloor depth:-1110.275798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.157786 meters looking forward 0.000000 meters along route # Maximum depth: 1109.157786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.157786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.854907; captureRadius = 10; duration = 117; initialDepth = 1058.519360; finalDepth = 1059.157786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.157786 # Seafloor depth:-1109.157786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1108.519360 meters looking forward 0.000000 meters along route # Maximum depth: 1108.519360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.519360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775483; longitude = -121.854199; captureRadius = 10; duration = 117; initialDepth = 1057.126193; finalDepth = 1058.519360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.51936 # Seafloor depth:-1108.519360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.126193 meters looking forward 0.000000 meters along route # Maximum depth: 1107.126193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.126193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.853570; captureRadius = 10; duration = 117; initialDepth = 1053.490538; finalDepth = 1057.126193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.126193 # Seafloor depth:-1107.126193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.490538 meters looking forward 0.000000 meters along route # Maximum depth: 1103.490538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.490538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.852902; captureRadius = 10; duration = 117; initialDepth = 1056.375015; finalDepth = 1053.490538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.490538 # Seafloor depth:-1103.490538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.375015 meters looking forward 0.000000 meters along route # Maximum depth: 1106.375015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.375015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777922; longitude = -121.852234; captureRadius = 10; duration = 117; initialDepth = 1056.000780; finalDepth = 1056.375015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.375015 # Seafloor depth:-1106.375015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.000780 meters looking forward 0.000000 meters along route # Maximum depth: 1106.000780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.000780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.851565; captureRadius = 10; duration = 117; initialDepth = 1055.224886; finalDepth = 1056.000780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.00078 # Seafloor depth:-1106.000780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.224886 meters looking forward 0.000000 meters along route # Maximum depth: 1105.224886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.224886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779598; longitude = -121.850883; captureRadius = 10; duration = 117; initialDepth = 1055.210454; finalDepth = 1055.224886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.224886 # Seafloor depth:-1105.224886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.210454 meters looking forward 0.000000 meters along route # Maximum depth: 1105.210454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.210454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.850229; captureRadius = 10; duration = 117; initialDepth = 1057.679629; finalDepth = 1055.210454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.210454 # Seafloor depth:-1105.210454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.679629 meters looking forward 0.000000 meters along route # Maximum depth: 1107.679629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.679629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781313; longitude = -121.849501; captureRadius = 10; duration = 117; initialDepth = 1062.708574; finalDepth = 1057.679629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.679629 # Seafloor depth:-1107.679629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.708574 meters looking forward 0.000000 meters along route # Maximum depth: 1112.708574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.708574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782068; longitude = -121.848892; captureRadius = 10; duration = 117; initialDepth = 1058.237052; finalDepth = 1062.708574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.708574 # Seafloor depth:-1112.708574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1108.237052 meters looking forward 0.000000 meters along route # Maximum depth: 1108.237052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.237052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.848224; captureRadius = 10; duration = 117; initialDepth = 1055.937205; finalDepth = 1058.237052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.237052 # Seafloor depth:-1108.237052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.937205 meters looking forward 0.000000 meters along route # Maximum depth: 1105.937205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.937205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.847556; captureRadius = 10; duration = 117; initialDepth = 1052.064142; finalDepth = 1055.937205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.937205 # Seafloor depth:-1105.937205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1102.064142 meters looking forward 0.000000 meters along route # Maximum depth: 1102.064142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.064142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.846887; captureRadius = 10; duration = 117; initialDepth = 1053.121701; finalDepth = 1052.064142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.064142 # Seafloor depth:-1102.064142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.121701 meters looking forward 0.000000 meters along route # Maximum depth: 1103.121701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.121701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785428; longitude = -121.846184; captureRadius = 10; duration = 117; initialDepth = 1056.119574; finalDepth = 1053.121701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.121701 # Seafloor depth:-1103.121701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.119574 meters looking forward 0.000000 meters along route # Maximum depth: 1106.119574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.119574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786214; longitude = -121.845551; captureRadius = 10; duration = 117; initialDepth = 1054.729000; finalDepth = 1056.119574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.119574 # Seafloor depth:-1106.119574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.729000 meters looking forward 0.000000 meters along route # Maximum depth: 1104.729000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.729000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.844882; captureRadius = 10; duration = 117; initialDepth = 1051.226086; finalDepth = 1054.729000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.729 # Seafloor depth:-1104.729000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1101.226086 meters looking forward 0.000000 meters along route # Maximum depth: 1101.226086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.226086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.844214; captureRadius = 10; duration = 117; initialDepth = 1050.012325; finalDepth = 1051.226086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.226086 # Seafloor depth:-1101.226086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1100.012325 meters looking forward 0.000000 meters along route # Maximum depth: 1100.012325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.012325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.843546; captureRadius = 10; duration = 117; initialDepth = 1052.736616; finalDepth = 1050.012325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.012325 # Seafloor depth:-1100.012325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1102.736616 meters looking forward 0.000000 meters along route # Maximum depth: 1102.736616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.736616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789544; longitude = -121.842867; captureRadius = 10; duration = 117; initialDepth = 1054.849054; finalDepth = 1052.736616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.736616 # Seafloor depth:-1102.736616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.849054 meters looking forward 0.000000 meters along route # Maximum depth: 1104.849054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.849054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790360; longitude = -121.842209; captureRadius = 10; duration = 117; initialDepth = 1055.047661; finalDepth = 1054.849054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.849054 # Seafloor depth:-1104.849054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.047661 meters looking forward 0.000000 meters along route # Maximum depth: 1105.047661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.047661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791259; longitude = -121.841485; captureRadius = 10; duration = 117; initialDepth = 1056.013960; finalDepth = 1055.047661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.047661 # Seafloor depth:-1105.047661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.013960 meters looking forward 0.000000 meters along route # Maximum depth: 1106.013960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.013960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.840873; captureRadius = 10; duration = 117; initialDepth = 1059.216211; finalDepth = 1056.013960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.01396 # Seafloor depth:-1106.013960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.216211 meters looking forward 0.000000 meters along route # Maximum depth: 1109.216211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.216211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792847; longitude = -121.840204; captureRadius = 10; duration = 117; initialDepth = 1061.476651; finalDepth = 1059.216211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.216211 # Seafloor depth:-1109.216211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1111.476651 meters looking forward 0.000000 meters along route # Maximum depth: 1111.476651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.476651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.839536; captureRadius = 10; duration = 117; initialDepth = 1062.118335; finalDepth = 1061.476651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.476651 # Seafloor depth:-1111.476651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.118335 meters looking forward 0.000000 meters along route # Maximum depth: 1112.118335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.118335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.838868; captureRadius = 10; duration = 117; initialDepth = 1054.740890; finalDepth = 1062.118335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.118335 # Seafloor depth:-1112.118335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.740890 meters looking forward 0.000000 meters along route # Maximum depth: 1104.740890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.740890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795374; longitude = -121.838168; captureRadius = 10; duration = 117; initialDepth = 1049.411829; finalDepth = 1054.740890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.74089 # Seafloor depth:-1104.740890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1099.411829 meters looking forward 0.000000 meters along route # Maximum depth: 1099.411829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.411829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.837531; captureRadius = 10; duration = 117; initialDepth = 1045.549885; finalDepth = 1049.411829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.411829 # Seafloor depth:-1099.411829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1095.549885 meters looking forward 0.000000 meters along route # Maximum depth: 1095.549885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.549885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -121.836863; captureRadius = 10; duration = 117; initialDepth = 1042.582509; finalDepth = 1045.549885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.549885 # Seafloor depth:-1095.549885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1092.582509 meters looking forward 0.000000 meters along route # Maximum depth: 1092.582509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.582509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797823; longitude = -121.836194; captureRadius = 10; duration = 117; initialDepth = 1038.572890; finalDepth = 1042.582509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.582509 # Seafloor depth:-1092.582509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1088.572890 meters looking forward 0.000000 meters along route # Maximum depth: 1088.572890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.572890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798652; longitude = -121.835526; captureRadius = 10; duration = 117; initialDepth = 1037.946079; finalDepth = 1038.572890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.57289 # Seafloor depth:-1088.572890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1087.946079 meters looking forward 0.000000 meters along route # Maximum depth: 1087.946079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.946079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799490; longitude = -121.834851; captureRadius = 10; duration = 117; initialDepth = 1041.776903; finalDepth = 1037.946079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.946079 # Seafloor depth:-1087.946079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1091.776903 meters looking forward 0.000000 meters along route # Maximum depth: 1091.776903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.776903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800310; longitude = -121.834190; captureRadius = 10; duration = 117; initialDepth = 1041.940019; finalDepth = 1041.776903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.776903 # Seafloor depth:-1091.776903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1091.940019 meters looking forward 0.000000 meters along route # Maximum depth: 1091.940019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.940019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801204; longitude = -121.833469; captureRadius = 10; duration = 117; initialDepth = 1037.588825; finalDepth = 1041.940019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.940019 # Seafloor depth:-1091.940019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1087.588825 meters looking forward 0.000000 meters along route # Maximum depth: 1087.588825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.588825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801969; longitude = -121.832853; captureRadius = 10; duration = 117; initialDepth = 1039.597930; finalDepth = 1037.588825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.588825 # Seafloor depth:-1087.588825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1089.597930 meters looking forward 0.000000 meters along route # Maximum depth: 1089.597930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.597930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802919; longitude = -121.832087; captureRadius = 10; duration = 117; initialDepth = 1032.391846; finalDepth = 1039.597930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.59793 # Seafloor depth:-1089.597930 # 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 117.753835 meters # Minimum depth: 1082.391846 meters looking forward 0.000000 meters along route # Maximum depth: 1082.391846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.391846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803719; longitude = -121.831442; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1032.102153; finalDepth = 1032.391846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.391846 # Seafloor depth:-1082.391846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1082.102153 meters looking forward 0.000000 meters along route # Maximum depth: 1082.102153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.102153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803627; longitude = -121.831212; captureRadius = 10; duration = 117; initialDepth = 1029.122559; finalDepth = 1032.102153; 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:1032.102153 # Seafloor depth:-1082.102153 # 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 117.753835 meters # Minimum depth: 1079.122559 meters looking forward 0.000000 meters along route # Maximum depth: 1079.122559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.122559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803167; longitude = -121.830060; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1033.213733; finalDepth = 1029.122559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.122559 # Seafloor depth:-1079.122559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1083.213733 meters looking forward 0.000000 meters along route # Maximum depth: 1083.213733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.213733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802522; longitude = -121.830577; captureRadius = 10; duration = 117; initialDepth = 1030.724360; finalDepth = 1033.213733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.213733 # Seafloor depth:-1083.213733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1080.724360 meters looking forward 0.000000 meters along route # Maximum depth: 1080.724360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.724360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801673; longitude = -121.831258; captureRadius = 10; duration = 117; initialDepth = 1034.231967; finalDepth = 1030.724360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.72436 # Seafloor depth:-1080.724360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1084.231967 meters looking forward 0.000000 meters along route # Maximum depth: 1084.231967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.231967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800863; longitude = -121.831908; captureRadius = 10; duration = 117; initialDepth = 1035.345043; finalDepth = 1034.231967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.231967 # Seafloor depth:-1084.231967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1085.345043 meters looking forward 0.000000 meters along route # Maximum depth: 1085.345043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.345043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800034; longitude = -121.832573; captureRadius = 10; duration = 117; initialDepth = 1035.639322; finalDepth = 1035.345043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.345043 # Seafloor depth:-1085.345043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1085.639322 meters looking forward 0.000000 meters along route # Maximum depth: 1085.639322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.639322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799205; longitude = -121.833238; captureRadius = 10; duration = 117; initialDepth = 1037.572662; finalDepth = 1035.639322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.639322 # Seafloor depth:-1085.639322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1087.572662 meters looking forward 0.000000 meters along route # Maximum depth: 1087.572662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.572662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798376; longitude = -121.833903; captureRadius = 10; duration = 117; initialDepth = 1040.495158; finalDepth = 1037.572662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.572662 # Seafloor depth:-1087.572662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1090.495158 meters looking forward 0.000000 meters along route # Maximum depth: 1090.495158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.495158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797538; longitude = -121.834575; captureRadius = 10; duration = 117; initialDepth = 1046.539569; finalDepth = 1040.495158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.495158 # Seafloor depth:-1090.495158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1096.539569 meters looking forward 0.000000 meters along route # Maximum depth: 1096.539569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.539569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796717; longitude = -121.835233; captureRadius = 10; duration = 117; initialDepth = 1048.829450; finalDepth = 1046.539569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.539569 # Seafloor depth:-1096.539569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1098.829450 meters looking forward 0.000000 meters along route # Maximum depth: 1098.829450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.829450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795815; longitude = -121.835957; captureRadius = 10; duration = 117; initialDepth = 1048.907979; finalDepth = 1048.829450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.82945 # Seafloor depth:-1098.829450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1098.907979 meters looking forward 0.000000 meters along route # Maximum depth: 1098.907979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.907979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795059; longitude = -121.836563; captureRadius = 10; duration = 117; initialDepth = 1054.654569; finalDepth = 1048.907979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.907979 # Seafloor depth:-1098.907979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.654569 meters looking forward 0.000000 meters along route # Maximum depth: 1104.654569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.654569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794229; longitude = -121.837228; captureRadius = 10; duration = 117; initialDepth = 1053.274032; finalDepth = 1054.654569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.654569 # Seafloor depth:-1104.654569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.274032 meters looking forward 0.000000 meters along route # Maximum depth: 1103.274032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.274032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793400; longitude = -121.837893; captureRadius = 10; duration = 117; initialDepth = 1059.824415; finalDepth = 1053.274032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.274032 # Seafloor depth:-1103.274032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.824415 meters looking forward 0.000000 meters along route # Maximum depth: 1109.824415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.824415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792571; longitude = -121.838559; captureRadius = 10; duration = 117; initialDepth = 1056.343056; finalDepth = 1059.824415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.824415 # Seafloor depth:-1109.824415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.343056 meters looking forward 0.000000 meters along route # Maximum depth: 1106.343056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.343056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791680; longitude = -121.839274; captureRadius = 10; duration = 117; initialDepth = 1054.287030; finalDepth = 1056.343056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.343056 # Seafloor depth:-1106.343056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.287030 meters looking forward 0.000000 meters along route # Maximum depth: 1104.287030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.287030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790913; longitude = -121.839889; captureRadius = 10; duration = 117; initialDepth = 1053.816317; finalDepth = 1054.287030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.28703 # Seafloor depth:-1104.287030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.816317 meters looking forward 0.000000 meters along route # Maximum depth: 1103.816317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.816317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.840554; captureRadius = 10; duration = 117; initialDepth = 1051.883837; finalDepth = 1053.816317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.816317 # Seafloor depth:-1103.816317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1101.883837 meters looking forward 0.000000 meters along route # Maximum depth: 1101.883837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.883837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789254; longitude = -121.841219; captureRadius = 10; duration = 117; initialDepth = 1048.675225; finalDepth = 1051.883837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.883837 # Seafloor depth:-1101.883837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1098.675225 meters looking forward 0.000000 meters along route # Maximum depth: 1098.675225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.675225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788425; longitude = -121.841884; captureRadius = 10; duration = 117; initialDepth = 1048.678126; finalDepth = 1048.675225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.675225 # Seafloor depth:-1098.675225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1098.678126 meters looking forward 0.000000 meters along route # Maximum depth: 1098.678126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.678126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787544; longitude = -121.842590; captureRadius = 10; duration = 117; initialDepth = 1048.749776; finalDepth = 1048.678126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.678126 # Seafloor depth:-1098.678126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1098.749776 meters looking forward 0.000000 meters along route # Maximum depth: 1098.749776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.749776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.843214; captureRadius = 10; duration = 117; initialDepth = 1053.753888; finalDepth = 1048.749776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.749776 # Seafloor depth:-1098.749776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.753888 meters looking forward 0.000000 meters along route # Maximum depth: 1103.753888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.753888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.843879; captureRadius = 10; duration = 117; initialDepth = 1054.266125; finalDepth = 1053.753888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.753888 # Seafloor depth:-1103.753888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.266125 meters looking forward 0.000000 meters along route # Maximum depth: 1104.266125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.266125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.844544; captureRadius = 10; duration = 117; initialDepth = 1048.266054; finalDepth = 1054.266125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.266125 # Seafloor depth:-1104.266125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1098.266054 meters looking forward 0.000000 meters along route # Maximum depth: 1098.266054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.266054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.845210; captureRadius = 10; duration = 117; initialDepth = 1056.394402; finalDepth = 1048.266054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.266054 # Seafloor depth:-1098.266054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.394402 meters looking forward 0.000000 meters along route # Maximum depth: 1106.394402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.394402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783409; longitude = -121.845907; captureRadius = 10; duration = 117; initialDepth = 1055.418331; finalDepth = 1056.394402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.394402 # Seafloor depth:-1106.394402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.418331 meters looking forward 0.000000 meters along route # Maximum depth: 1105.418331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.418331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.846540; captureRadius = 10; duration = 117; initialDepth = 1060.470751; finalDepth = 1055.418331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.418331 # Seafloor depth:-1105.418331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.470751 meters looking forward 0.000000 meters along route # Maximum depth: 1110.470751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.470751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.847205; captureRadius = 10; duration = 117; initialDepth = 1052.090590; finalDepth = 1060.470751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.470751 # Seafloor depth:-1110.470751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1102.090590 meters looking forward 0.000000 meters along route # Maximum depth: 1102.090590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.090590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.847870; captureRadius = 10; duration = 117; initialDepth = 1051.778466; finalDepth = 1052.090590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.09059 # Seafloor depth:-1102.090590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1101.778466 meters looking forward 0.000000 meters along route # Maximum depth: 1101.778466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.778466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780133; longitude = -121.848535; captureRadius = 10; duration = 117; initialDepth = 1056.037945; finalDepth = 1051.778466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.778466 # Seafloor depth:-1101.778466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.037945 meters looking forward 0.000000 meters along route # Maximum depth: 1106.037945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.037945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779274; longitude = -121.849224; captureRadius = 10; duration = 117; initialDepth = 1054.611820; finalDepth = 1056.037945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.037945 # Seafloor depth:-1106.037945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.611820 meters looking forward 0.000000 meters along route # Maximum depth: 1104.611820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.611820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.849865; captureRadius = 10; duration = 117; initialDepth = 1053.564777; finalDepth = 1054.611820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.61182 # Seafloor depth:-1104.611820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.564777 meters looking forward 0.000000 meters along route # Maximum depth: 1103.564777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.564777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.850530; captureRadius = 10; duration = 117; initialDepth = 1052.102921; finalDepth = 1053.564777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.564777 # Seafloor depth:-1103.564777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1102.102921 meters looking forward 0.000000 meters along route # Maximum depth: 1102.102921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.102921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.851195; captureRadius = 10; duration = 117; initialDepth = 1055.264361; finalDepth = 1052.102921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.102921 # Seafloor depth:-1102.102921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.264361 meters looking forward 0.000000 meters along route # Maximum depth: 1105.264361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.264361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.851861; captureRadius = 10; duration = 117; initialDepth = 1052.357927; finalDepth = 1055.264361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.264361 # Seafloor depth:-1105.264361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1102.357927 meters looking forward 0.000000 meters along route # Maximum depth: 1102.357927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.357927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775138; longitude = -121.852541; captureRadius = 10; duration = 117; initialDepth = 1052.136855; finalDepth = 1052.357927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.357927 # Seafloor depth:-1102.357927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1102.136855 meters looking forward 0.000000 meters along route # Maximum depth: 1102.136855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.136855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774328; longitude = -121.853191; captureRadius = 10; duration = 117; initialDepth = 1051.596744; finalDepth = 1052.136855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.136855 # Seafloor depth:-1102.136855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1101.596744 meters looking forward 0.000000 meters along route # Maximum depth: 1101.596744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.596744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.853856; captureRadius = 10; duration = 117; initialDepth = 1059.109874; finalDepth = 1051.596744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.596744 # Seafloor depth:-1101.596744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.109874 meters looking forward 0.000000 meters along route # Maximum depth: 1109.109874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.109874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.854521; captureRadius = 10; duration = 117; initialDepth = 1053.460442; finalDepth = 1059.109874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.109874 # Seafloor depth:-1109.109874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.460442 meters looking forward 0.000000 meters along route # Maximum depth: 1103.460442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.460442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771841; longitude = -121.855186; captureRadius = 10; duration = 117; initialDepth = 1053.334380; finalDepth = 1053.460442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.460442 # Seafloor depth:-1103.460442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.334380 meters looking forward 0.000000 meters along route # Maximum depth: 1103.334380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.334380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771003; longitude = -121.855858; captureRadius = 10; duration = 117; initialDepth = 1055.412258; finalDepth = 1053.334380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.33438 # Seafloor depth:-1103.334380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.412258 meters looking forward 0.000000 meters along route # Maximum depth: 1105.412258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.412258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770182; longitude = -121.856516; captureRadius = 10; duration = 117; initialDepth = 1052.442167; finalDepth = 1055.412258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.412258 # Seafloor depth:-1105.412258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1102.442167 meters looking forward 0.000000 meters along route # Maximum depth: 1102.442167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.442167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769280; longitude = -121.857240; captureRadius = 10; duration = 117; initialDepth = 1059.331862; finalDepth = 1052.442167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.442167 # Seafloor depth:-1102.442167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1109.331862 meters looking forward 0.000000 meters along route # Maximum depth: 1109.331862 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.331862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768524; longitude = -121.857846; captureRadius = 10; duration = 117; initialDepth = 1062.330859; finalDepth = 1059.331862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.331862 # Seafloor depth:-1109.331862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1112.330859 meters looking forward 0.000000 meters along route # Maximum depth: 1112.330859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.330859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767695; longitude = -121.858511; captureRadius = 10; duration = 117; initialDepth = 1052.798998; finalDepth = 1062.330859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.330859 # Seafloor depth:-1112.330859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1102.798998 meters looking forward 0.000000 meters along route # Maximum depth: 1102.798998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.798998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766865; longitude = -121.859177; captureRadius = 10; duration = 117; initialDepth = 1053.756373; finalDepth = 1052.798998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.798998 # Seafloor depth:-1102.798998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.756373 meters looking forward 0.000000 meters along route # Maximum depth: 1103.756373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.756373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766036; longitude = -121.859842; captureRadius = 10; duration = 117; initialDepth = 1054.128095; finalDepth = 1053.756373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.756373 # Seafloor depth:-1103.756373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.128095 meters looking forward 0.000000 meters along route # Maximum depth: 1104.128095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.128095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765145; longitude = -121.860557; captureRadius = 10; duration = 117; initialDepth = 1053.953579; finalDepth = 1054.128095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.128095 # Seafloor depth:-1104.128095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.953579 meters looking forward 0.000000 meters along route # Maximum depth: 1103.953579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.953579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.861172; captureRadius = 10; duration = 117; initialDepth = 1056.793572; finalDepth = 1053.953579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.953579 # Seafloor depth:-1103.953579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.793572 meters looking forward 0.000000 meters along route # Maximum depth: 1106.793572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.793572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763549; longitude = -121.861837; captureRadius = 10; duration = 117; initialDepth = 1060.628952; finalDepth = 1056.793572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.793572 # Seafloor depth:-1106.793572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.628952 meters looking forward 0.000000 meters along route # Maximum depth: 1110.628952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.628952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.862502; captureRadius = 10; duration = 117; initialDepth = 1053.661296; finalDepth = 1060.628952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.628952 # Seafloor depth:-1110.628952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.661296 meters looking forward 0.000000 meters along route # Maximum depth: 1103.661296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.661296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761890; longitude = -121.863167; captureRadius = 10; duration = 117; initialDepth = 1053.121796; finalDepth = 1053.661296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.661296 # Seafloor depth:-1103.661296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.121796 meters looking forward 0.000000 meters along route # Maximum depth: 1103.121796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.121796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761010; longitude = -121.863874; captureRadius = 10; duration = 117; initialDepth = 1055.330560; finalDepth = 1053.121796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.121796 # Seafloor depth:-1103.121796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.330560 meters looking forward 0.000000 meters along route # Maximum depth: 1105.330560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.330560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.864497; captureRadius = 10; duration = 117; initialDepth = 1057.778602; finalDepth = 1055.330560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.33056 # Seafloor depth:-1105.330560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.778602 meters looking forward 0.000000 meters along route # Maximum depth: 1107.778602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.778602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.865162; captureRadius = 10; duration = 117; initialDepth = 1052.209878; finalDepth = 1057.778602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.778602 # Seafloor depth:-1107.778602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1102.209878 meters looking forward 0.000000 meters along route # Maximum depth: 1102.209878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.209878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.865828; captureRadius = 10; duration = 117; initialDepth = 1053.770209; finalDepth = 1052.209878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.209878 # Seafloor depth:-1102.209878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.770209 meters looking forward 0.000000 meters along route # Maximum depth: 1103.770209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.770209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.866493; captureRadius = 10; duration = 117; initialDepth = 1056.513583; finalDepth = 1053.770209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.770209 # Seafloor depth:-1103.770209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.513583 meters looking forward 0.000000 meters along route # Maximum depth: 1106.513583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.513583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756874; longitude = -121.867190; captureRadius = 10; duration = 117; initialDepth = 1057.228186; finalDepth = 1056.513583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.513583 # Seafloor depth:-1106.513583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.228186 meters looking forward 0.000000 meters along route # Maximum depth: 1107.228186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.228186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756086; longitude = -121.867823; captureRadius = 10; duration = 117; initialDepth = 1057.918186; finalDepth = 1057.228186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.228186 # Seafloor depth:-1107.228186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.918186 meters looking forward 0.000000 meters along route # Maximum depth: 1107.918186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.918186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.868488; captureRadius = 10; duration = 117; initialDepth = 1054.140325; finalDepth = 1057.918186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.918186 # Seafloor depth:-1107.918186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.140325 meters looking forward 0.000000 meters along route # Maximum depth: 1104.140325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.140325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.869153; captureRadius = 10; duration = 117; initialDepth = 1055.121103; finalDepth = 1054.140325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.140325 # Seafloor depth:-1104.140325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.121103 meters looking forward 0.000000 meters along route # Maximum depth: 1105.121103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.121103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.869818; captureRadius = 10; duration = 117; initialDepth = 1056.118500; finalDepth = 1055.121103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.121103 # Seafloor depth:-1105.121103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.118500 meters looking forward 0.000000 meters along route # Maximum depth: 1106.118500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.118500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752739; longitude = -121.870507; captureRadius = 10; duration = 117; initialDepth = 1060.549237; finalDepth = 1056.118500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.1185 # Seafloor depth:-1106.118500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1110.549237 meters looking forward 0.000000 meters along route # Maximum depth: 1110.549237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.549237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.871148; captureRadius = 10; duration = 117; initialDepth = 1055.628718; finalDepth = 1060.549237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.549237 # Seafloor depth:-1110.549237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.628718 meters looking forward 0.000000 meters along route # Maximum depth: 1105.628718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.628718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751016; longitude = -121.871889; captureRadius = 10; duration = 117; initialDepth = 1056.333984; finalDepth = 1055.628718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.628718 # Seafloor depth:-1105.628718 # 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 117.753835 meters # Minimum depth: 1106.333984 meters looking forward 0.000000 meters along route # Maximum depth: 1106.333984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.333984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750097; longitude = -121.872626; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1056.164124; finalDepth = 1056.333984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.333984 # Seafloor depth:-1106.333984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.164124 meters looking forward 0.000000 meters along route # Maximum depth: 1106.164124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.164124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749867; longitude = -121.872166; captureRadius = 10; duration = 117; initialDepth = 1053.355062; finalDepth = 1056.164124; 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:1056.164124 # Seafloor depth:-1106.164124 # 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 117.753835 meters # Minimum depth: 1103.355062 meters looking forward 0.000000 meters along route # Maximum depth: 1103.355062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.355062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749360; longitude = -121.871152; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1054.921285; finalDepth = 1053.355062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.355062 # Seafloor depth:-1103.355062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.921285 meters looking forward 0.000000 meters along route # Maximum depth: 1104.921285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.921285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.870641; captureRadius = 10; duration = 117; initialDepth = 1056.356010; finalDepth = 1054.921285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.921285 # Seafloor depth:-1104.921285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.356010 meters looking forward 0.000000 meters along route # Maximum depth: 1106.356010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.356010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750872; longitude = -121.869954; captureRadius = 10; duration = 117; initialDepth = 1053.213374; finalDepth = 1056.356010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.35601 # Seafloor depth:-1106.356010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.213374 meters looking forward 0.000000 meters along route # Maximum depth: 1103.213374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.213374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751663; longitude = -121.869327; captureRadius = 10; duration = 117; initialDepth = 1054.198105; finalDepth = 1053.213374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.213374 # Seafloor depth:-1103.213374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.198105 meters looking forward 0.000000 meters along route # Maximum depth: 1104.198105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.198105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.868670; captureRadius = 10; duration = 117; initialDepth = 1052.536197; finalDepth = 1054.198105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.198105 # Seafloor depth:-1104.198105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1102.536197 meters looking forward 0.000000 meters along route # Maximum depth: 1102.536197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.536197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.868013; captureRadius = 10; duration = 117; initialDepth = 1056.162378; finalDepth = 1052.536197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.536197 # Seafloor depth:-1102.536197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1106.162378 meters looking forward 0.000000 meters along route # Maximum depth: 1106.162378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.162378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.867356; captureRadius = 10; duration = 117; initialDepth = 1057.937000; finalDepth = 1056.162378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.162378 # Seafloor depth:-1106.162378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1107.937000 meters looking forward 0.000000 meters along route # Maximum depth: 1107.937000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.937000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.866699; captureRadius = 10; duration = 117; initialDepth = 1055.760489; finalDepth = 1057.937000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.937 # Seafloor depth:-1107.937000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.760489 meters looking forward 0.000000 meters along route # Maximum depth: 1105.760489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.760489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.866042; captureRadius = 10; duration = 117; initialDepth = 1052.752882; finalDepth = 1055.760489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.760489 # Seafloor depth:-1105.760489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1102.752882 meters looking forward 0.000000 meters along route # Maximum depth: 1102.752882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.752882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.865385; captureRadius = 10; duration = 117; initialDepth = 1050.649585; finalDepth = 1052.752882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.752882 # Seafloor depth:-1102.752882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1100.649585 meters looking forward 0.000000 meters along route # Maximum depth: 1100.649585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.649585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757500; longitude = -121.864703; captureRadius = 10; duration = 117; initialDepth = 1058.733494; finalDepth = 1050.649585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.649585 # Seafloor depth:-1100.649585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1108.733494 meters looking forward 0.000000 meters along route # Maximum depth: 1108.733494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.733494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.864071; captureRadius = 10; duration = 117; initialDepth = 1053.054344; finalDepth = 1058.733494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.733494 # Seafloor depth:-1108.733494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1103.054344 meters looking forward 0.000000 meters along route # Maximum depth: 1103.054344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.054344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.863414; captureRadius = 10; duration = 117; initialDepth = 1050.856638; finalDepth = 1053.054344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.054344 # Seafloor depth:-1103.054344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1100.856638 meters looking forward 0.000000 meters along route # Maximum depth: 1100.856638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.856638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.862757; captureRadius = 10; duration = 117; initialDepth = 1050.343466; finalDepth = 1050.856638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.856638 # Seafloor depth:-1100.856638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1100.343466 meters looking forward 0.000000 meters along route # Maximum depth: 1100.343466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.343466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.862100; captureRadius = 10; duration = 117; initialDepth = 1054.042278; finalDepth = 1050.343466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.343466 # Seafloor depth:-1100.343466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1104.042278 meters looking forward 0.000000 meters along route # Maximum depth: 1104.042278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.042278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.861443; captureRadius = 10; duration = 117; initialDepth = 1058.299799; finalDepth = 1054.042278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.042278 # Seafloor depth:-1104.042278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1108.299799 meters looking forward 0.000000 meters along route # Maximum depth: 1108.299799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.299799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.860786; captureRadius = 10; duration = 117; initialDepth = 1055.849146; finalDepth = 1058.299799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.299799 # Seafloor depth:-1108.299799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1105.849146 meters looking forward 0.000000 meters along route # Maximum depth: 1105.849146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.849146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.860129; captureRadius = 10; duration = 117; initialDepth = 1050.813157; finalDepth = 1055.849146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.849146 # Seafloor depth:-1105.849146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1100.813157 meters looking forward 0.000000 meters along route # Maximum depth: 1100.813157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.813157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764128; longitude = -121.859451; captureRadius = 10; duration = 117; initialDepth = 1048.338733; finalDepth = 1050.813157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.813157 # Seafloor depth:-1100.813157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1098.338733 meters looking forward 0.000000 meters along route # Maximum depth: 1098.338733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.338733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.858815; captureRadius = 10; duration = 117; initialDepth = 1049.822534; finalDepth = 1048.338733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.338733 # Seafloor depth:-1098.338733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1099.822534 meters looking forward 0.000000 meters along route # Maximum depth: 1099.822534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.822534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.858158; captureRadius = 10; duration = 117; initialDepth = 1048.683575; finalDepth = 1049.822534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.822534 # Seafloor depth:-1099.822534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1098.683575 meters looking forward 0.000000 meters along route # Maximum depth: 1098.683575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.683575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.857501; captureRadius = 10; duration = 117; initialDepth = 1061.809713; finalDepth = 1048.683575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.683575 # Seafloor depth:-1098.683575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1111.809713 meters looking forward 0.000000 meters along route # Maximum depth: 1111.809713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.809713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.856844; captureRadius = 10; duration = 117; initialDepth = 1052.223994; finalDepth = 1061.809713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.809713 # Seafloor depth:-1111.809713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1102.223994 meters looking forward 0.000000 meters along route # Maximum depth: 1102.223994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.223994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768315; longitude = -121.856134; captureRadius = 10; duration = 117; initialDepth = 1049.591885; finalDepth = 1052.223994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.223994 # Seafloor depth:-1102.223994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1099.591885 meters looking forward 0.000000 meters along route # Maximum depth: 1099.591885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.591885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.855530; captureRadius = 10; duration = 117; initialDepth = 1050.326097; finalDepth = 1049.591885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.591885 # Seafloor depth:-1099.591885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1100.326097 meters looking forward 0.000000 meters along route # Maximum depth: 1100.326097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.326097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.854873; captureRadius = 10; duration = 117; initialDepth = 1049.581734; finalDepth = 1050.326097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.326097 # Seafloor depth:-1100.326097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1099.581734 meters looking forward 0.000000 meters along route # Maximum depth: 1099.581734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.581734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770757; longitude = -121.854199; captureRadius = 10; duration = 117; initialDepth = 1049.865540; finalDepth = 1049.581734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.581734 # Seafloor depth:-1099.581734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1099.865540 meters looking forward 0.000000 meters along route # Maximum depth: 1099.865540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.865540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.853559; captureRadius = 10; duration = 117; initialDepth = 1050.430376; finalDepth = 1049.865540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.86554 # Seafloor depth:-1099.865540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1100.430376 meters looking forward 0.000000 meters along route # Maximum depth: 1100.430376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.430376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772501; longitude = -121.852817; captureRadius = 10; duration = 117; initialDepth = 1047.545736; finalDepth = 1050.430376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.430376 # Seafloor depth:-1100.430376 # 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 117.753835 meters # Minimum depth: 1097.545736 meters looking forward 0.000000 meters along route # Maximum depth: 1097.545736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.545736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773315; longitude = -121.852172; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1046.972439; finalDepth = 1047.545736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.545736 # Seafloor depth:-1097.545736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1096.972439 meters looking forward 0.000000 meters along route # Maximum depth: 1096.972439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.972439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773161; longitude = -121.851712; captureRadius = 10; duration = 117; initialDepth = 1045.944173; finalDepth = 1046.972439; 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:1046.972439 # Seafloor depth:-1096.972439 # 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 117.753835 meters # Minimum depth: 1095.944173 meters looking forward 0.000000 meters along route # Maximum depth: 1095.944173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.944173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772762; longitude = -121.850514; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1047.335693; finalDepth = 1045.944173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.944173 # Seafloor depth:-1095.944173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_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 117.753835 meters # Minimum depth: 1097.335693 meters looking forward 0.000000 meters along route # Maximum depth: 1097.335693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1120.040068 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.335693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773637; longitude = -121.849777; captureRadius = 10; duration = 117; initialDepth = 1048.006917; finalDepth = 1047.335693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.335693 # Seafloor depth:-1097.335693 # 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:1048.006917 # Seafloor depth:-1098.006917 # 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 117.753835 meters # Minimum depth: 1098.006917 meters looking forward 0.000000 meters along route # Maximum depth: 1098.006917 meters looking forward 0.000000 meters along route # Vehicle depth: 1048.006917 meters behavior waypoint { latitude = 35.774513; longitude = -121.849040; captureRadius = 10; duration = 500; depth = 1048.006917; 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 1048.006917 meters set by local depth and desired altitude behavior descend { duration = 3159; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 1038.006917; minAltitude = 50.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 117.753835 meters # Minimum depth: 1098.006917 meters looking forward 0.000000 meters along route # Maximum depth: 1098.006917 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 35.774513; longitude = -121.849040; captureRadius = 10; duration = 500; depth = 50.000000; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 213.787739; 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 = 213.787739; 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; } # ####################################################### #######################################################