# 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_6v2.rte # Mission File: Lucia2008_6v2.cfg # Distance: 85929.653865 (m) # Estimated Time: 60259 (s) 16.739 (hr) # Abort Time: 61571 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1428 (s) # Way Points: 46 # Route Points: 803 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 83 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.6 # 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: 1228.438114 (m) # Abort Vehicle Depth: 1253.438114 (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 -121.857871 35.797822 -1141.011749 0.000000 3 # 1 -121.882935 35.766408 -1140.858154 4156.337191 4 # 2 -121.884326 35.767144 -1146.650299 4306.337191 3 # 3 -121.859263 35.798559 -1148.857513 8462.674383 4 # 4 -121.860654 35.799297 -1151.209778 8612.674383 3 # 5 -121.885717 35.767881 -1144.440613 12769.011574 4 # 6 -121.887109 35.768618 -1147.577454 12919.011574 3 # 7 -121.862046 35.800034 -1149.481903 17075.348765 4 # 8 -121.863437 35.800771 -1147.691010 17225.348765 3 # 9 -121.888500 35.769355 -1152.160919 21381.685957 4 # 10 -121.889891 35.770092 -1151.409393 21531.685957 3 # 11 -121.864829 35.801508 -1146.733276 25688.023148 4 # 12 -121.866220 35.802245 -1150.369446 25838.023148 3 # 13 -121.891283 35.770829 -1152.876892 29994.360339 4 # 14 -121.892674 35.771566 -1156.442108 30144.360339 3 # 15 -121.867612 35.802982 -1157.196655 34300.697530 4 # 16 -121.869004 35.803719 -1150.141296 34450.697530 3 # 17 -121.894065 35.772302 -1162.540985 38607.034722 4 # 18 -121.895457 35.773039 -1162.977081 38757.034722 3 # 19 -121.870396 35.804456 -1152.381409 42913.371913 4 # 20 -121.871787 35.805194 -1153.395416 43063.371913 3 # 21 -121.896029 35.774789 -1165.497314 47085.097979 4 # 22 -121.896673 35.776355 -1165.309408 47268.357316 3 # 23 -121.873179 35.805931 -1155.736633 51176.165245 4 # 24 -121.874571 35.806668 -1159.633484 51326.165245 3 # 25 -121.897226 35.778290 -1157.579590 55081.222951 4 # 26 -121.897779 35.780225 -1145.638184 55301.581915 3 # 27 -121.875963 35.807405 -1165.853607 58903.908973 4 # 28 -121.877355 35.808142 -1168.329407 59053.908973 3 # 29 -121.898240 35.781976 -1127.186035 62516.077757 4 # 30 -121.898793 35.783910 -1115.079427 62736.436275 3 # 31 -121.878747 35.808879 -1171.152344 66045.871628 4 # 32 -121.880138 35.809616 -1167.620758 66195.871628 3 # 33 -121.899161 35.785753 -1117.805339 69352.039524 4 # 34 -121.899622 35.787780 -1129.662272 69580.701191 3 # 35 -121.881530 35.810352 -1168.553345 72571.018792 4 # 36 -121.882922 35.811089 -1174.949890 72721.018792 3 # 37 -121.899898 35.789715 -1141.453613 75544.973223 4 # 38 -121.900451 35.791926 -1151.039958 75795.288819 3 # 39 -121.884314 35.811826 -1177.671814 78440.849445 4 # 40 -121.885706 35.812563 -1183.116241 78590.849445 3 # 41 -121.900727 35.793585 -1166.056641 81095.697755 4 # 42 -121.901096 35.795704 -1181.368571 81333.104798 3 # 43 -121.887098 35.813300 -1189.188660 83658.970960 4 # 44 -121.888490 35.814037 -1194.511841 83808.970960 3 # 45 -121.901280 35.798007 -1190.187988 85929.653865 4 # # A total of 803 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61571; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1228.438114; abortDepth = 1253.438114; 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 = 1428; 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 45 # Segment length 109.637980 meters # Minimum depth: 1190.187988 meters looking forward 0.000000 meters along route # Maximum depth: 1190.187988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1140.187988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798007; longitude = -121.901280; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1140.623099; finalDepth = 1140.187988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1140.187988 # Seafloor depth:-1190.187988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1190.623099 meters looking forward 0.000000 meters along route # Maximum depth: 1190.623099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1140.623099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798122; longitude = -121.901188; captureRadius = 10; duration = 109; initialDepth = 1143.518494; finalDepth = 1140.623099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1140.623099 # Seafloor depth:-1190.623099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1193.518494 meters looking forward 0.000000 meters along route # Maximum depth: 1193.518494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.518494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798928; longitude = -121.900545; captureRadius = 10; duration = 109; initialDepth = 1148.257788; finalDepth = 1143.518494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1143.518494 # Seafloor depth:-1193.518494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1198.257788 meters looking forward 0.000000 meters along route # Maximum depth: 1198.257788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.257788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799758; longitude = -121.899883; captureRadius = 10; duration = 109; initialDepth = 1153.607928; finalDepth = 1148.257788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1148.257788 # Seafloor depth:-1198.257788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1203.607928 meters looking forward 0.000000 meters along route # Maximum depth: 1203.607928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.607928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800587; longitude = -121.899222; captureRadius = 10; duration = 109; initialDepth = 1156.411648; finalDepth = 1153.607928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1153.607928 # Seafloor depth:-1203.607928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1206.411648 meters looking forward 0.000000 meters along route # Maximum depth: 1206.411648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.411648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801416; longitude = -121.898560; captureRadius = 10; duration = 109; initialDepth = 1154.732598; finalDepth = 1156.411648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1156.411648 # Seafloor depth:-1206.411648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1204.732598 meters looking forward 0.000000 meters along route # Maximum depth: 1204.732598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.732598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802280; longitude = -121.897871; captureRadius = 10; duration = 109; initialDepth = 1157.322114; finalDepth = 1154.732598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1154.732598 # Seafloor depth:-1204.732598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1207.322114 meters looking forward 0.000000 meters along route # Maximum depth: 1207.322114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1157.322114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803074; longitude = -121.897237; captureRadius = 10; duration = 109; initialDepth = 1160.294282; finalDepth = 1157.322114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1157.322114 # Seafloor depth:-1207.322114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1210.294282 meters looking forward 0.000000 meters along route # Maximum depth: 1210.294282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1160.294282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803904; longitude = -121.896575; captureRadius = 10; duration = 109; initialDepth = 1168.155011; finalDepth = 1160.294282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1160.294282 # Seafloor depth:-1210.294282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1218.155011 meters looking forward 0.000000 meters along route # Maximum depth: 1218.155011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1168.155011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804733; longitude = -121.895914; captureRadius = 10; duration = 109; initialDepth = 1175.872041; finalDepth = 1168.155011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1168.155011 # Seafloor depth:-1218.155011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1225.872041 meters looking forward 0.000000 meters along route # Maximum depth: 1225.872041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1175.872041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805562; longitude = -121.895252; captureRadius = 10; duration = 109; initialDepth = 1179.768889; finalDepth = 1175.872041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1175.872041 # Seafloor depth:-1225.872041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1229.768889 meters looking forward 0.000000 meters along route # Maximum depth: 1229.768889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1179.768889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806437; longitude = -121.894554; captureRadius = 10; duration = 109; initialDepth = 1186.927448; finalDepth = 1179.768889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1179.768889 # Seafloor depth:-1229.768889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1236.927448 meters looking forward 0.000000 meters along route # Maximum depth: 1236.927448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1186.927448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807220; longitude = -121.893929; captureRadius = 10; duration = 109; initialDepth = 1202.468303; finalDepth = 1186.927448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1186.927448 # Seafloor depth:-1236.927448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1252.468303 meters looking forward 0.000000 meters along route # Maximum depth: 1252.468303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1202.468303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808050; longitude = -121.893268; captureRadius = 10; duration = 109; initialDepth = 1203.438114; finalDepth = 1202.468303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1202.468303 # Seafloor depth:-1252.468303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1253.438114 meters looking forward 0.000000 meters along route # Maximum depth: 1253.438114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1203.438114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808879; longitude = -121.892606; captureRadius = 10; duration = 109; initialDepth = 1203.357003; finalDepth = 1203.438114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1203.438114 # Seafloor depth:-1253.438114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1253.357003 meters looking forward 0.000000 meters along route # Maximum depth: 1253.357003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1203.357003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809708; longitude = -121.891944; captureRadius = 10; duration = 109; initialDepth = 1166.759436; finalDepth = 1203.357003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1203.357003 # Seafloor depth:-1253.357003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1216.759436 meters looking forward 0.000000 meters along route # Maximum depth: 1216.759436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1166.759436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810594; longitude = -121.891238; captureRadius = 10; duration = 109; initialDepth = 1161.581641; finalDepth = 1166.759436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1166.759436 # Seafloor depth:-1216.759436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1211.581641 meters looking forward 0.000000 meters along route # Maximum depth: 1211.581641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1161.581641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.811366; longitude = -121.890621; captureRadius = 10; duration = 109; initialDepth = 1159.137077; finalDepth = 1161.581641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1161.581641 # Seafloor depth:-1211.581641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1209.137077 meters looking forward 0.000000 meters along route # Maximum depth: 1209.137077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1159.137077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.812196; longitude = -121.889960; captureRadius = 10; duration = 109; initialDepth = 1152.161755; finalDepth = 1159.137077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1159.137077 # Seafloor depth:-1209.137077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.637980 meters # Minimum depth: 1202.161755 meters looking forward 0.000000 meters along route # Maximum depth: 1202.161755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.161755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.813025; longitude = -121.889298; captureRadius = 10; duration = 109; initialDepth = 1144.511841; finalDepth = 1152.161755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1152.161755 # Seafloor depth:-1202.161755 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 109.637980 meters # Minimum depth: 1194.511841 meters looking forward 0.000000 meters along route # Maximum depth: 1194.511841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.511841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.814037; longitude = -121.888490; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1141.049359; finalDepth = 1144.511841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1144.511841 # Seafloor depth:-1194.511841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.637980 meters # Minimum depth: 1191.049359 meters looking forward 0.000000 meters along route # Maximum depth: 1191.049359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1141.049359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.813854; longitude = -121.888145; captureRadius = 10; duration = 109; initialDepth = 1139.188660; finalDepth = 1141.049359; 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:1141.049359 # Seafloor depth:-1191.049359 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 109.637980 meters # Minimum depth: 1189.188660 meters looking forward 0.000000 meters along route # Maximum depth: 1189.188660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.188660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.813300; longitude = -121.887098; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1142.104573; finalDepth = 1139.188660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1139.18866 # Seafloor depth:-1189.188660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1192.104573 meters looking forward 0.000000 meters along route # Maximum depth: 1192.104573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.104573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.812472; longitude = -121.887757; captureRadius = 10; duration = 109; initialDepth = 1148.735966; finalDepth = 1142.104573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1142.104573 # Seafloor depth:-1192.104573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1198.735966 meters looking forward 0.000000 meters along route # Maximum depth: 1198.735966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.735966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.811571; longitude = -121.888473; captureRadius = 10; duration = 109; initialDepth = 1154.162400; finalDepth = 1148.735966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1148.735966 # Seafloor depth:-1198.735966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1204.162400 meters looking forward 0.000000 meters along route # Maximum depth: 1204.162400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.162400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810814; longitude = -121.889076; captureRadius = 10; duration = 109; initialDepth = 1160.807724; finalDepth = 1154.162400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1154.1624 # Seafloor depth:-1204.162400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1210.807724 meters looking forward 0.000000 meters along route # Maximum depth: 1210.807724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1160.807724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809984; longitude = -121.889736; captureRadius = 10; duration = 109; initialDepth = 1192.512276; finalDepth = 1160.807724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1160.807724 # Seafloor depth:-1210.807724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1242.512276 meters looking forward 0.000000 meters along route # Maximum depth: 1242.512276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1192.512276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809139; longitude = -121.890408; captureRadius = 10; duration = 109; initialDepth = 1195.737943; finalDepth = 1192.512276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1192.512276 # Seafloor depth:-1242.512276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1245.737943 meters looking forward 0.000000 meters along route # Maximum depth: 1245.737943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1195.737943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808326; longitude = -121.891055; captureRadius = 10; duration = 109; initialDepth = 1201.517668; finalDepth = 1195.737943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1195.737943 # Seafloor depth:-1245.737943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1251.517668 meters looking forward 0.000000 meters along route # Maximum depth: 1251.517668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1201.517668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807497; longitude = -121.891715; captureRadius = 10; duration = 109; initialDepth = 1198.131453; finalDepth = 1201.517668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1201.517668 # Seafloor depth:-1251.517668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1248.131453 meters looking forward 0.000000 meters along route # Maximum depth: 1248.131453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1198.131453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806668; longitude = -121.892374; captureRadius = 10; duration = 109; initialDepth = 1180.757330; finalDepth = 1198.131453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1198.131453 # Seafloor depth:-1248.131453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1230.757330 meters looking forward 0.000000 meters along route # Maximum depth: 1230.757330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1180.757330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805838; longitude = -121.893034; captureRadius = 10; duration = 109; initialDepth = 1172.395288; finalDepth = 1180.757330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1180.75733 # Seafloor depth:-1230.757330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1222.395288 meters looking forward 0.000000 meters along route # Maximum depth: 1222.395288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1172.395288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804969; longitude = -121.893725; captureRadius = 10; duration = 109; initialDepth = 1167.493239; finalDepth = 1172.395288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1172.395288 # Seafloor depth:-1222.395288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1217.493239 meters looking forward 0.000000 meters along route # Maximum depth: 1217.493239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1167.493239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804180; longitude = -121.894353; captureRadius = 10; duration = 109; initialDepth = 1158.901346; finalDepth = 1167.493239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1167.493239 # Seafloor depth:-1217.493239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1208.901346 meters looking forward 0.000000 meters along route # Maximum depth: 1208.901346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1158.901346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803351; longitude = -121.895013; captureRadius = 10; duration = 109; initialDepth = 1156.727912; finalDepth = 1158.901346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1158.901346 # Seafloor depth:-1208.901346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1206.727912 meters looking forward 0.000000 meters along route # Maximum depth: 1206.727912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.727912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802522; longitude = -121.895672; captureRadius = 10; duration = 109; initialDepth = 1156.247998; finalDepth = 1156.727912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1156.727912 # Seafloor depth:-1206.727912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1206.247998 meters looking forward 0.000000 meters along route # Maximum depth: 1206.247998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.247998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801692; longitude = -121.896332; captureRadius = 10; duration = 109; initialDepth = 1153.834717; finalDepth = 1156.247998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1156.247998 # Seafloor depth:-1206.247998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1203.834717 meters looking forward 0.000000 meters along route # Maximum depth: 1203.834717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.834717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800800; longitude = -121.897042; captureRadius = 10; duration = 109; initialDepth = 1151.768656; finalDepth = 1153.834717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1153.834717 # Seafloor depth:-1203.834717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1201.768656 meters looking forward 0.000000 meters along route # Maximum depth: 1201.768656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1151.768656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800034; longitude = -121.897651; captureRadius = 10; duration = 109; initialDepth = 1153.721485; finalDepth = 1151.768656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1151.768656 # Seafloor depth:-1201.768656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1203.721485 meters looking forward 0.000000 meters along route # Maximum depth: 1203.721485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.721485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799205; longitude = -121.898311; captureRadius = 10; duration = 109; initialDepth = 1147.369322; finalDepth = 1153.721485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1153.721485 # Seafloor depth:-1203.721485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1197.369322 meters looking forward 0.000000 meters along route # Maximum depth: 1197.369322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1147.369322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798368; longitude = -121.898977; captureRadius = 10; duration = 109; initialDepth = 1143.852869; finalDepth = 1147.369322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1147.369322 # Seafloor depth:-1197.369322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1193.852869 meters looking forward 0.000000 meters along route # Maximum depth: 1193.852869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.852869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797546; longitude = -121.899630; captureRadius = 10; duration = 109; initialDepth = 1140.415492; finalDepth = 1143.852869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1143.852869 # Seafloor depth:-1193.852869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.637980 meters # Minimum depth: 1190.415492 meters looking forward 0.000000 meters along route # Maximum depth: 1190.415492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1140.415492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796630; longitude = -121.900359; captureRadius = 10; duration = 109; initialDepth = 1131.368571; finalDepth = 1140.415492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1140.415492 # Seafloor depth:-1190.415492 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 109.637980 meters # Minimum depth: 1181.368571 meters looking forward 0.000000 meters along route # Maximum depth: 1181.368571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.368571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795704; longitude = -121.901096; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1131.770370; finalDepth = 1131.368571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1131.368571 # Seafloor depth:-1181.368571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 109.637980 meters # Minimum depth: 1181.770370 meters looking forward 0.000000 meters along route # Maximum depth: 1181.770370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.770370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795611; longitude = -121.901080; captureRadius = 10; duration = 109; initialDepth = 1121.385450; finalDepth = 1131.770370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1131.77037 # Seafloor depth:-1181.770370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 109.637980 meters # Minimum depth: 1171.385450 meters looking forward 0.000000 meters along route # Maximum depth: 1171.385450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.385450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.900888; captureRadius = 10; duration = 109; initialDepth = 1116.056641; finalDepth = 1121.385450; 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:1121.38545 # Seafloor depth:-1171.385450 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 109.637980 meters # Minimum depth: 1166.056641 meters looking forward 0.000000 meters along route # Maximum depth: 1166.056641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.056641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793585; longitude = -121.900727; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1120.145400; finalDepth = 1116.056641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1116.056641 # Seafloor depth:-1166.056641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1170.145400 meters looking forward 0.000000 meters along route # Maximum depth: 1170.145400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.145400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794229; longitude = -121.900217; captureRadius = 10; duration = 109; initialDepth = 1135.878159; finalDepth = 1120.145400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1120.1454 # Seafloor depth:-1170.145400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1185.878159 meters looking forward 0.000000 meters along route # Maximum depth: 1185.878159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1135.878159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795098; longitude = -121.899530; captureRadius = 10; duration = 109; initialDepth = 1141.318405; finalDepth = 1135.878159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1135.878159 # Seafloor depth:-1185.878159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1191.318405 meters looking forward 0.000000 meters along route # Maximum depth: 1191.318405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1141.318405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795888; longitude = -121.898904; captureRadius = 10; duration = 109; initialDepth = 1146.221995; finalDepth = 1141.318405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1141.318405 # Seafloor depth:-1191.318405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1196.221995 meters looking forward 0.000000 meters along route # Maximum depth: 1196.221995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1146.221995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796717; longitude = -121.898248; captureRadius = 10; duration = 109; initialDepth = 1156.419981; finalDepth = 1146.221995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1146.221995 # Seafloor depth:-1196.221995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1206.419981 meters looking forward 0.000000 meters along route # Maximum depth: 1206.419981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.419981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797546; longitude = -121.897592; captureRadius = 10; duration = 109; initialDepth = 1148.099442; finalDepth = 1156.419981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1156.419981 # Seafloor depth:-1206.419981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1198.099442 meters looking forward 0.000000 meters along route # Maximum depth: 1198.099442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.099442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798376; longitude = -121.896935; captureRadius = 10; duration = 109; initialDepth = 1150.106947; finalDepth = 1148.099442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1148.099442 # Seafloor depth:-1198.099442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1200.106947 meters looking forward 0.000000 meters along route # Maximum depth: 1200.106947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1150.106947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799205; longitude = -121.896279; captureRadius = 10; duration = 109; initialDepth = 1150.468736; finalDepth = 1150.106947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1150.106947 # Seafloor depth:-1200.106947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1200.468736 meters looking forward 0.000000 meters along route # Maximum depth: 1200.468736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1150.468736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800034; longitude = -121.895623; captureRadius = 10; duration = 109; initialDepth = 1155.736824; finalDepth = 1150.468736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1150.468736 # Seafloor depth:-1200.468736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1205.736824 meters looking forward 0.000000 meters along route # Maximum depth: 1205.736824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1155.736824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800863; longitude = -121.894967; captureRadius = 10; duration = 109; initialDepth = 1159.171515; finalDepth = 1155.736824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1155.736824 # Seafloor depth:-1205.736824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1209.171515 meters looking forward 0.000000 meters along route # Maximum depth: 1209.171515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1159.171515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801733; longitude = -121.894278; captureRadius = 10; duration = 109; initialDepth = 1166.953104; finalDepth = 1159.171515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1159.171515 # Seafloor depth:-1209.171515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1216.953104 meters looking forward 0.000000 meters along route # Maximum depth: 1216.953104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1166.953104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802522; longitude = -121.893654; captureRadius = 10; duration = 109; initialDepth = 1173.608181; finalDepth = 1166.953104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1166.953104 # Seafloor depth:-1216.953104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1223.608181 meters looking forward 0.000000 meters along route # Maximum depth: 1223.608181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1173.608181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803351; longitude = -121.892998; captureRadius = 10; duration = 109; initialDepth = 1171.544041; finalDepth = 1173.608181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1173.608181 # Seafloor depth:-1223.608181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1221.544041 meters looking forward 0.000000 meters along route # Maximum depth: 1221.544041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1171.544041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804180; longitude = -121.892341; captureRadius = 10; duration = 109; initialDepth = 1191.434671; finalDepth = 1171.544041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1171.544041 # Seafloor depth:-1221.544041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1241.434671 meters looking forward 0.000000 meters along route # Maximum depth: 1241.434671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1191.434671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805009; longitude = -121.891685; captureRadius = 10; duration = 109; initialDepth = 1196.203824; finalDepth = 1191.434671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1191.434671 # Seafloor depth:-1241.434671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1246.203824 meters looking forward 0.000000 meters along route # Maximum depth: 1246.203824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1196.203824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805838; longitude = -121.891029; captureRadius = 10; duration = 109; initialDepth = 1192.099118; finalDepth = 1196.203824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1196.203824 # Seafloor depth:-1246.203824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1242.099118 meters looking forward 0.000000 meters along route # Maximum depth: 1242.099118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1192.099118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806668; longitude = -121.890373; captureRadius = 10; duration = 109; initialDepth = 1197.061022; finalDepth = 1192.099118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1192.099118 # Seafloor depth:-1242.099118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1247.061022 meters looking forward 0.000000 meters along route # Maximum depth: 1247.061022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1197.061022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807497; longitude = -121.889716; captureRadius = 10; duration = 109; initialDepth = 1172.635861; finalDepth = 1197.061022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1197.061022 # Seafloor depth:-1247.061022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1222.635861 meters looking forward 0.000000 meters along route # Maximum depth: 1222.635861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1172.635861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808369; longitude = -121.889026; captureRadius = 10; duration = 109; initialDepth = 1155.234378; finalDepth = 1172.635861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1172.635861 # Seafloor depth:-1222.635861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1205.234378 meters looking forward 0.000000 meters along route # Maximum depth: 1205.234378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1155.234378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809155; longitude = -121.888404; captureRadius = 10; duration = 109; initialDepth = 1148.321438; finalDepth = 1155.234378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1155.234378 # Seafloor depth:-1205.234378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1198.321438 meters looking forward 0.000000 meters along route # Maximum depth: 1198.321438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.321438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809984; longitude = -121.887747; captureRadius = 10; duration = 109; initialDepth = 1141.999996; finalDepth = 1148.321438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1148.321438 # Seafloor depth:-1198.321438 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1191.999996 meters looking forward 0.000000 meters along route # Maximum depth: 1191.999996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1141.999996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810814; longitude = -121.887091; captureRadius = 10; duration = 109; initialDepth = 1139.006749; finalDepth = 1141.999996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1141.999996 # Seafloor depth:-1191.999996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.637980 meters # Minimum depth: 1189.006749 meters looking forward 0.000000 meters along route # Maximum depth: 1189.006749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.006749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.811643; longitude = -121.886435; captureRadius = 10; duration = 109; initialDepth = 1133.116241; finalDepth = 1139.006749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1139.006749 # Seafloor depth:-1189.006749 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 109.637980 meters # Minimum depth: 1183.116241 meters looking forward 0.000000 meters along route # Maximum depth: 1183.116241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.116241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.812563; longitude = -121.885706; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1133.082469; finalDepth = 1133.116241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1133.116241 # Seafloor depth:-1183.116241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 109.637980 meters # Minimum depth: 1183.082469 meters looking forward 0.000000 meters along route # Maximum depth: 1183.082469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.082469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.812419; longitude = -121.885433; captureRadius = 10; duration = 109; initialDepth = 1127.671814; finalDepth = 1133.082469; 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:1133.082469 # Seafloor depth:-1183.082469 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 109.637980 meters # Minimum depth: 1177.671814 meters looking forward 0.000000 meters along route # Maximum depth: 1177.671814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.671814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.811826; longitude = -121.884314; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1131.712368; finalDepth = 1127.671814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1127.671814 # Seafloor depth:-1177.671814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1181.712368 meters looking forward 0.000000 meters along route # Maximum depth: 1181.712368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.712368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.811090; longitude = -121.884911; captureRadius = 10; duration = 109; initialDepth = 1136.837062; finalDepth = 1131.712368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1131.712368 # Seafloor depth:-1181.712368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1186.837062 meters looking forward 0.000000 meters along route # Maximum depth: 1186.837062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.837062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810261; longitude = -121.885584; captureRadius = 10; duration = 109; initialDepth = 1143.479265; finalDepth = 1136.837062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1136.837062 # Seafloor depth:-1186.837062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1193.479265 meters looking forward 0.000000 meters along route # Maximum depth: 1193.479265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.479265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809424; longitude = -121.886262; captureRadius = 10; duration = 109; initialDepth = 1151.586032; finalDepth = 1143.479265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1143.479265 # Seafloor depth:-1193.479265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1201.586032 meters looking forward 0.000000 meters along route # Maximum depth: 1201.586032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1151.586032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808602; longitude = -121.886928; captureRadius = 10; duration = 109; initialDepth = 1158.750789; finalDepth = 1151.586032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1151.586032 # Seafloor depth:-1201.586032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1208.750789 meters looking forward 0.000000 meters along route # Maximum depth: 1208.750789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1158.750789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807720; longitude = -121.887644; captureRadius = 10; duration = 109; initialDepth = 1184.268414; finalDepth = 1158.750789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1158.750789 # Seafloor depth:-1208.750789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1234.268414 meters looking forward 0.000000 meters along route # Maximum depth: 1234.268414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1184.268414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806944; longitude = -121.888273; captureRadius = 10; duration = 109; initialDepth = 1195.704451; finalDepth = 1184.268414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1184.268414 # Seafloor depth:-1234.268414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1245.704451 meters looking forward 0.000000 meters along route # Maximum depth: 1245.704451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1195.704451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806115; longitude = -121.888946; captureRadius = 10; duration = 109; initialDepth = 1194.248925; finalDepth = 1195.704451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1195.704451 # Seafloor depth:-1245.704451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1244.248925 meters looking forward 0.000000 meters along route # Maximum depth: 1244.248925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1194.248925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805286; longitude = -121.889618; captureRadius = 10; duration = 109; initialDepth = 1189.626557; finalDepth = 1194.248925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1194.248925 # Seafloor depth:-1244.248925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1239.626557 meters looking forward 0.000000 meters along route # Maximum depth: 1239.626557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1189.626557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804456; longitude = -121.890290; captureRadius = 10; duration = 109; initialDepth = 1186.496340; finalDepth = 1189.626557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1189.626557 # Seafloor depth:-1239.626557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1236.496340 meters looking forward 0.000000 meters along route # Maximum depth: 1236.496340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1186.496340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803627; longitude = -121.890963; captureRadius = 10; duration = 109; initialDepth = 1183.315817; finalDepth = 1186.496340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1186.49634 # Seafloor depth:-1236.496340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1233.315817 meters looking forward 0.000000 meters along route # Maximum depth: 1233.315817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1183.315817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802798; longitude = -121.891635; captureRadius = 10; duration = 109; initialDepth = 1179.288566; finalDepth = 1183.315817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1183.315817 # Seafloor depth:-1233.315817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1229.288566 meters looking forward 0.000000 meters along route # Maximum depth: 1229.288566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1179.288566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801925; longitude = -121.892343; captureRadius = 10; duration = 109; initialDepth = 1176.812203; finalDepth = 1179.288566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1179.288566 # Seafloor depth:-1229.288566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1226.812203 meters looking forward 0.000000 meters along route # Maximum depth: 1226.812203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1176.812203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801140; longitude = -121.892980; captureRadius = 10; duration = 109; initialDepth = 1171.306630; finalDepth = 1176.812203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1176.812203 # Seafloor depth:-1226.812203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1221.306630 meters looking forward 0.000000 meters along route # Maximum depth: 1221.306630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1171.306630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800310; longitude = -121.893652; captureRadius = 10; duration = 109; initialDepth = 1163.329493; finalDepth = 1171.306630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1171.30663 # Seafloor depth:-1221.306630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1213.329493 meters looking forward 0.000000 meters along route # Maximum depth: 1213.329493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1163.329493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799481; longitude = -121.894325; captureRadius = 10; duration = 109; initialDepth = 1148.293342; finalDepth = 1163.329493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1163.329493 # Seafloor depth:-1213.329493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1198.293342 meters looking forward 0.000000 meters along route # Maximum depth: 1198.293342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.293342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798652; longitude = -121.894997; captureRadius = 10; duration = 109; initialDepth = 1149.797043; finalDepth = 1148.293342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1148.293342 # Seafloor depth:-1198.293342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1199.797043 meters looking forward 0.000000 meters along route # Maximum depth: 1199.797043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.797043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797823; longitude = -121.895670; captureRadius = 10; duration = 109; initialDepth = 1145.706870; finalDepth = 1149.797043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1149.797043 # Seafloor depth:-1199.797043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1195.706870 meters looking forward 0.000000 meters along route # Maximum depth: 1195.706870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1145.706870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -121.896342; captureRadius = 10; duration = 109; initialDepth = 1148.031503; finalDepth = 1145.706870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1145.70687 # Seafloor depth:-1195.706870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1198.031503 meters looking forward 0.000000 meters along route # Maximum depth: 1198.031503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.031503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796130; longitude = -121.897042; captureRadius = 10; duration = 109; initialDepth = 1142.058651; finalDepth = 1148.031503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1148.031503 # Seafloor depth:-1198.031503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1192.058651 meters looking forward 0.000000 meters along route # Maximum depth: 1192.058651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.058651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795335; longitude = -121.897687; captureRadius = 10; duration = 109; initialDepth = 1134.513082; finalDepth = 1142.058651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1142.058651 # Seafloor depth:-1192.058651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1184.513082 meters looking forward 0.000000 meters along route # Maximum depth: 1184.513082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1134.513082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.898359; captureRadius = 10; duration = 109; initialDepth = 1120.694933; finalDepth = 1134.513082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1134.513082 # Seafloor depth:-1184.513082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1170.694933 meters looking forward 0.000000 meters along route # Maximum depth: 1170.694933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.694933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.899031; captureRadius = 10; duration = 109; initialDepth = 1109.470670; finalDepth = 1120.694933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1120.694933 # Seafloor depth:-1170.694933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.637980 meters # Minimum depth: 1159.470670 meters looking forward 0.000000 meters along route # Maximum depth: 1159.470670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.470670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792721; longitude = -121.899806; captureRadius = 10; duration = 109; initialDepth = 1101.039958; finalDepth = 1109.470670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.47067 # Seafloor depth:-1159.470670 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 109.637980 meters # Minimum depth: 1151.039958 meters looking forward 0.000000 meters along route # Maximum depth: 1151.039958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.039958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791926; longitude = -121.900451; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1098.586670; finalDepth = 1101.039958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.039958 # Seafloor depth:-1151.039958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 109.637980 meters # Minimum depth: 1148.586670 meters looking forward 0.000000 meters along route # Maximum depth: 1148.586670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.586670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791558; longitude = -121.900359; captureRadius = 10; duration = 109; initialDepth = 1094.259684; finalDepth = 1098.586670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.58667 # Seafloor depth:-1148.586670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 109.637980 meters # Minimum depth: 1144.259684 meters looking forward 0.000000 meters along route # Maximum depth: 1144.259684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.259684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790636; longitude = -121.900129; captureRadius = 10; duration = 109; initialDepth = 1091.453613; finalDepth = 1094.259684; 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:1094.259684 # Seafloor depth:-1144.259684 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 109.637980 meters # Minimum depth: 1141.453613 meters looking forward 0.000000 meters along route # Maximum depth: 1141.453613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.453613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789715; longitude = -121.899898; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1091.994777; finalDepth = 1091.453613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1091.453613 # Seafloor depth:-1141.453613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1141.994777 meters looking forward 0.000000 meters along route # Maximum depth: 1141.994777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.994777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790360; longitude = -121.899386; captureRadius = 10; duration = 109; initialDepth = 1098.626200; finalDepth = 1091.994777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1091.994777 # Seafloor depth:-1141.994777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1148.626200 meters looking forward 0.000000 meters along route # Maximum depth: 1148.626200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.626200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791223; longitude = -121.898700; captureRadius = 10; duration = 109; initialDepth = 1107.148165; finalDepth = 1098.626200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.6262 # Seafloor depth:-1148.626200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1157.148165 meters looking forward 0.000000 meters along route # Maximum depth: 1157.148165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.148165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.898069; captureRadius = 10; duration = 109; initialDepth = 1120.289398; finalDepth = 1107.148165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.148165 # Seafloor depth:-1157.148165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1170.289398 meters looking forward 0.000000 meters along route # Maximum depth: 1170.289398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.289398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792847; longitude = -121.897410; captureRadius = 10; duration = 109; initialDepth = 1133.738209; finalDepth = 1120.289398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1120.289398 # Seafloor depth:-1170.289398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1183.738209 meters looking forward 0.000000 meters along route # Maximum depth: 1183.738209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.738209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.896752; captureRadius = 10; duration = 109; initialDepth = 1137.569649; finalDepth = 1133.738209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1133.738209 # Seafloor depth:-1183.738209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1187.569649 meters looking forward 0.000000 meters along route # Maximum depth: 1187.569649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1137.569649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.896093; captureRadius = 10; duration = 109; initialDepth = 1135.689732; finalDepth = 1137.569649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1137.569649 # Seafloor depth:-1187.569649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1185.689732 meters looking forward 0.000000 meters along route # Maximum depth: 1185.689732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1135.689732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795399; longitude = -121.895384; captureRadius = 10; duration = 109; initialDepth = 1138.358903; finalDepth = 1135.689732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1135.689732 # Seafloor depth:-1185.689732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1188.358903 meters looking forward 0.000000 meters along route # Maximum depth: 1188.358903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.358903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.894776; captureRadius = 10; duration = 109; initialDepth = 1140.902739; finalDepth = 1138.358903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1138.358903 # Seafloor depth:-1188.358903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1190.902739 meters looking forward 0.000000 meters along route # Maximum depth: 1190.902739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1140.902739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -121.894117; captureRadius = 10; duration = 109; initialDepth = 1166.510986; finalDepth = 1140.902739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1140.902739 # Seafloor depth:-1190.902739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1216.510986 meters looking forward 0.000000 meters along route # Maximum depth: 1216.510986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1166.510986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797835; longitude = -121.893449; captureRadius = 10; duration = 109; initialDepth = 1163.489128; finalDepth = 1166.510986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1166.510986 # Seafloor depth:-1216.510986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1213.489128 meters looking forward 0.000000 meters along route # Maximum depth: 1213.489128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1163.489128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798652; longitude = -121.892800; captureRadius = 10; duration = 109; initialDepth = 1166.262555; finalDepth = 1163.489128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1163.489128 # Seafloor depth:-1213.489128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1216.262555 meters looking forward 0.000000 meters along route # Maximum depth: 1216.262555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1166.262555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799481; longitude = -121.892142; captureRadius = 10; duration = 109; initialDepth = 1167.966449; finalDepth = 1166.262555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1166.262555 # Seafloor depth:-1216.262555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1217.966449 meters looking forward 0.000000 meters along route # Maximum depth: 1217.966449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1167.966449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800310; longitude = -121.891483; captureRadius = 10; duration = 109; initialDepth = 1164.838016; finalDepth = 1167.966449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1167.966449 # Seafloor depth:-1217.966449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1214.838016 meters looking forward 0.000000 meters along route # Maximum depth: 1214.838016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1164.838016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801140; longitude = -121.890825; captureRadius = 10; duration = 109; initialDepth = 1176.824303; finalDepth = 1164.838016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1164.838016 # Seafloor depth:-1214.838016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1226.824303 meters looking forward 0.000000 meters along route # Maximum depth: 1226.824303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1176.824303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802012; longitude = -121.890132; captureRadius = 10; duration = 109; initialDepth = 1183.774967; finalDepth = 1176.824303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1176.824303 # Seafloor depth:-1226.824303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1233.774967 meters looking forward 0.000000 meters along route # Maximum depth: 1233.774967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1183.774967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802798; longitude = -121.889507; captureRadius = 10; duration = 109; initialDepth = 1186.520696; finalDepth = 1183.774967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1183.774967 # Seafloor depth:-1233.774967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1236.520696 meters looking forward 0.000000 meters along route # Maximum depth: 1236.520696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1186.520696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803627; longitude = -121.888849; captureRadius = 10; duration = 109; initialDepth = 1197.494112; finalDepth = 1186.520696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1186.520696 # Seafloor depth:-1236.520696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1247.494112 meters looking forward 0.000000 meters along route # Maximum depth: 1247.494112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1197.494112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804456; longitude = -121.888190; captureRadius = 10; duration = 109; initialDepth = 1187.865061; finalDepth = 1197.494112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1197.494112 # Seafloor depth:-1247.494112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1237.865061 meters looking forward 0.000000 meters along route # Maximum depth: 1237.865061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1187.865061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805286; longitude = -121.887532; captureRadius = 10; duration = 109; initialDepth = 1159.447253; finalDepth = 1187.865061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1187.865061 # Seafloor depth:-1237.865061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1209.447253 meters looking forward 0.000000 meters along route # Maximum depth: 1209.447253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1159.447253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806115; longitude = -121.886873; captureRadius = 10; duration = 109; initialDepth = 1147.702924; finalDepth = 1159.447253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1159.447253 # Seafloor depth:-1209.447253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1197.702924 meters looking forward 0.000000 meters along route # Maximum depth: 1197.702924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1147.702924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806944; longitude = -121.886215; captureRadius = 10; duration = 109; initialDepth = 1140.242082; finalDepth = 1147.702924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1147.702924 # Seafloor depth:-1197.702924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1190.242082 meters looking forward 0.000000 meters along route # Maximum depth: 1190.242082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1140.242082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807773; longitude = -121.885556; captureRadius = 10; duration = 109; initialDepth = 1135.457466; finalDepth = 1140.242082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1140.242082 # Seafloor depth:-1190.242082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1185.457466 meters looking forward 0.000000 meters along route # Maximum depth: 1185.457466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1135.457466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808624; longitude = -121.884880; captureRadius = 10; duration = 109; initialDepth = 1133.131438; finalDepth = 1135.457466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1135.457466 # Seafloor depth:-1185.457466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1183.131438 meters looking forward 0.000000 meters along route # Maximum depth: 1183.131438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.131438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809432; longitude = -121.884239; captureRadius = 10; duration = 109; initialDepth = 1127.599442; finalDepth = 1133.131438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1133.131438 # Seafloor depth:-1183.131438 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.637980 meters # Minimum depth: 1177.599442 meters looking forward 0.000000 meters along route # Maximum depth: 1177.599442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.599442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810261; longitude = -121.883580; captureRadius = 10; duration = 109; initialDepth = 1124.949890; finalDepth = 1127.599442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1127.599442 # Seafloor depth:-1177.599442 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 109.637980 meters # Minimum depth: 1174.949890 meters looking forward 0.000000 meters along route # Maximum depth: 1174.949890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.949890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.811089; longitude = -121.882922; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1124.258027; finalDepth = 1124.949890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1124.94989 # Seafloor depth:-1174.949890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 109.637980 meters # Minimum depth: 1174.258027 meters looking forward 0.000000 meters along route # Maximum depth: 1174.258027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.258027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810955; longitude = -121.882669; captureRadius = 10; duration = 109; initialDepth = 1118.553345; finalDepth = 1124.258027; 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:1124.258027 # Seafloor depth:-1174.258027 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 109.637980 meters # Minimum depth: 1168.553345 meters looking forward 0.000000 meters along route # Maximum depth: 1168.553345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1118.553345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810352; longitude = -121.881530; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1120.321587; finalDepth = 1118.553345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1118.553345 # Seafloor depth:-1168.553345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1170.321587 meters looking forward 0.000000 meters along route # Maximum depth: 1170.321587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.321587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810261; longitude = -121.881604; captureRadius = 10; duration = 109; initialDepth = 1123.193941; finalDepth = 1120.321587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1120.321587 # Seafloor depth:-1170.321587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1173.193941 meters looking forward 0.000000 meters along route # Maximum depth: 1173.193941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1123.193941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809432; longitude = -121.882268; captureRadius = 10; duration = 109; initialDepth = 1129.932693; finalDepth = 1123.193941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1123.193941 # Seafloor depth:-1173.193941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1179.932693 meters looking forward 0.000000 meters along route # Maximum depth: 1179.932693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1129.932693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808587; longitude = -121.882945; captureRadius = 10; duration = 109; initialDepth = 1139.604496; finalDepth = 1129.932693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1129.932693 # Seafloor depth:-1179.932693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1189.604496 meters looking forward 0.000000 meters along route # Maximum depth: 1189.604496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.604496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807773; longitude = -121.883598; captureRadius = 10; duration = 109; initialDepth = 1146.816644; finalDepth = 1139.604496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1139.604496 # Seafloor depth:-1189.604496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1196.816644 meters looking forward 0.000000 meters along route # Maximum depth: 1196.816644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1146.816644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806944; longitude = -121.884262; captureRadius = 10; duration = 109; initialDepth = 1140.388593; finalDepth = 1146.816644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1146.816644 # Seafloor depth:-1196.816644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1190.388593 meters looking forward 0.000000 meters along route # Maximum depth: 1190.388593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1140.388593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806115; longitude = -121.884927; captureRadius = 10; duration = 109; initialDepth = 1153.621036; finalDepth = 1140.388593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1140.388593 # Seafloor depth:-1190.388593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1203.621036 meters looking forward 0.000000 meters along route # Maximum depth: 1203.621036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.621036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805286; longitude = -121.885591; captureRadius = 10; duration = 109; initialDepth = 1180.793029; finalDepth = 1153.621036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1153.621036 # Seafloor depth:-1203.621036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1230.793029 meters looking forward 0.000000 meters along route # Maximum depth: 1230.793029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1180.793029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804449; longitude = -121.886262; captureRadius = 10; duration = 109; initialDepth = 1189.398769; finalDepth = 1180.793029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1180.793029 # Seafloor depth:-1230.793029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1239.398769 meters looking forward 0.000000 meters along route # Maximum depth: 1239.398769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1189.398769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803627; longitude = -121.886921; captureRadius = 10; duration = 109; initialDepth = 1155.419759; finalDepth = 1189.398769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1189.398769 # Seafloor depth:-1239.398769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1205.419759 meters looking forward 0.000000 meters along route # Maximum depth: 1205.419759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1155.419759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802724; longitude = -121.887644; captureRadius = 10; duration = 109; initialDepth = 1155.425916; finalDepth = 1155.419759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1155.419759 # Seafloor depth:-1205.419759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1205.425916 meters looking forward 0.000000 meters along route # Maximum depth: 1205.425916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1155.425916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801969; longitude = -121.888250; captureRadius = 10; duration = 109; initialDepth = 1152.327115; finalDepth = 1155.425916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1155.425916 # Seafloor depth:-1205.425916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1202.327115 meters looking forward 0.000000 meters along route # Maximum depth: 1202.327115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.327115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801140; longitude = -121.888914; captureRadius = 10; duration = 109; initialDepth = 1153.900232; finalDepth = 1152.327115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1152.327115 # Seafloor depth:-1202.327115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1203.900232 meters looking forward 0.000000 meters along route # Maximum depth: 1203.900232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.900232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800310; longitude = -121.889579; captureRadius = 10; duration = 109; initialDepth = 1149.309974; finalDepth = 1153.900232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1153.900232 # Seafloor depth:-1203.900232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1199.309974 meters looking forward 0.000000 meters along route # Maximum depth: 1199.309974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.309974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799481; longitude = -121.890244; captureRadius = 10; duration = 109; initialDepth = 1162.000830; finalDepth = 1149.309974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1149.309974 # Seafloor depth:-1199.309974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1212.000830 meters looking forward 0.000000 meters along route # Maximum depth: 1212.000830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1162.000830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798586; longitude = -121.890961; captureRadius = 10; duration = 109; initialDepth = 1162.442537; finalDepth = 1162.000830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1162.00083 # Seafloor depth:-1212.000830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1212.442537 meters looking forward 0.000000 meters along route # Maximum depth: 1212.442537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1162.442537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797823; longitude = -121.891573; captureRadius = 10; duration = 109; initialDepth = 1157.665702; finalDepth = 1162.442537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1162.442537 # Seafloor depth:-1212.442537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1207.665702 meters looking forward 0.000000 meters along route # Maximum depth: 1207.665702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1157.665702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -121.892237; captureRadius = 10; duration = 109; initialDepth = 1156.258037; finalDepth = 1157.665702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1157.665702 # Seafloor depth:-1207.665702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1206.258037 meters looking forward 0.000000 meters along route # Maximum depth: 1206.258037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.258037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.892902; captureRadius = 10; duration = 109; initialDepth = 1144.925758; finalDepth = 1156.258037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1156.258037 # Seafloor depth:-1206.258037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1194.925758 meters looking forward 0.000000 meters along route # Maximum depth: 1194.925758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.925758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795335; longitude = -121.893567; captureRadius = 10; duration = 109; initialDepth = 1143.010038; finalDepth = 1144.925758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1144.925758 # Seafloor depth:-1194.925758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1193.010038 meters looking forward 0.000000 meters along route # Maximum depth: 1193.010038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.010038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794447; longitude = -121.894278; captureRadius = 10; duration = 109; initialDepth = 1144.544725; finalDepth = 1143.010038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1143.010038 # Seafloor depth:-1193.010038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1194.544725 meters looking forward 0.000000 meters along route # Maximum depth: 1194.544725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.544725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.894896; captureRadius = 10; duration = 109; initialDepth = 1137.728637; finalDepth = 1144.544725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1144.544725 # Seafloor depth:-1194.544725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1187.728637 meters looking forward 0.000000 meters along route # Maximum depth: 1187.728637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1137.728637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792847; longitude = -121.895560; captureRadius = 10; duration = 109; initialDepth = 1121.090792; finalDepth = 1137.728637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1137.728637 # Seafloor depth:-1187.728637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1171.090792 meters looking forward 0.000000 meters along route # Maximum depth: 1171.090792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.090792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.896225; captureRadius = 10; duration = 109; initialDepth = 1106.326950; finalDepth = 1121.090792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1121.090792 # Seafloor depth:-1171.090792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1156.326950 meters looking forward 0.000000 meters along route # Maximum depth: 1156.326950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.326950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791189; longitude = -121.896890; captureRadius = 10; duration = 109; initialDepth = 1093.325853; finalDepth = 1106.326950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.32695 # Seafloor depth:-1156.326950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1143.325853 meters looking forward 0.000000 meters along route # Maximum depth: 1143.325853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.325853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790309; longitude = -121.897595; captureRadius = 10; duration = 109; initialDepth = 1089.956831; finalDepth = 1093.325853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.325853 # Seafloor depth:-1143.325853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1139.956831 meters looking forward 0.000000 meters along route # Maximum depth: 1139.956831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.956831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.898219; captureRadius = 10; duration = 109; initialDepth = 1081.592676; finalDepth = 1089.956831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.956831 # Seafloor depth:-1139.956831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.637980 meters # Minimum depth: 1131.592676 meters looking forward 0.000000 meters along route # Maximum depth: 1131.592676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.592676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788585; longitude = -121.898977; captureRadius = 10; duration = 109; initialDepth = 1079.662272; finalDepth = 1081.592676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.592676 # Seafloor depth:-1131.592676 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 109.637980 meters # Minimum depth: 1129.662272 meters looking forward 0.000000 meters along route # Maximum depth: 1129.662272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.662272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787780; longitude = -121.899622; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1073.880554; finalDepth = 1079.662272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.662272 # Seafloor depth:-1129.662272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 109.637980 meters # Minimum depth: 1123.880554 meters looking forward 0.000000 meters along route # Maximum depth: 1123.880554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.880554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.899391; captureRadius = 10; duration = 109; initialDepth = 1067.805339; finalDepth = 1073.880554; 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:1073.880554 # Seafloor depth:-1123.880554 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 109.637980 meters # Minimum depth: 1117.805339 meters looking forward 0.000000 meters along route # Maximum depth: 1117.805339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.805339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785753; longitude = -121.899161; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1064.865266; finalDepth = 1067.805339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.805339 # Seafloor depth:-1117.805339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1114.865266 meters looking forward 0.000000 meters along route # Maximum depth: 1114.865266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.865266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786214; longitude = -121.898794; captureRadius = 10; duration = 109; initialDepth = 1077.518941; finalDepth = 1064.865266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.865266 # Seafloor depth:-1114.865266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1127.518941 meters looking forward 0.000000 meters along route # Maximum depth: 1127.518941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.518941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.898133; captureRadius = 10; duration = 109; initialDepth = 1080.934803; finalDepth = 1077.518941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.518941 # Seafloor depth:-1127.518941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1130.934803 meters looking forward 0.000000 meters along route # Maximum depth: 1130.934803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.934803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.897472; captureRadius = 10; duration = 109; initialDepth = 1088.130105; finalDepth = 1080.934803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.934803 # Seafloor depth:-1130.934803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1138.130105 meters looking forward 0.000000 meters along route # Maximum depth: 1138.130105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.130105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788758; longitude = -121.896766; captureRadius = 10; duration = 109; initialDepth = 1102.717029; finalDepth = 1088.130105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.130105 # Seafloor depth:-1138.130105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1152.717029 meters looking forward 0.000000 meters along route # Maximum depth: 1152.717029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.717029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.896150; captureRadius = 10; duration = 109; initialDepth = 1120.476061; finalDepth = 1102.717029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.717029 # Seafloor depth:-1152.717029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1170.476061 meters looking forward 0.000000 meters along route # Maximum depth: 1170.476061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.476061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790360; longitude = -121.895489; captureRadius = 10; duration = 109; initialDepth = 1129.979668; finalDepth = 1120.476061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1120.476061 # Seafloor depth:-1170.476061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1179.979668 meters looking forward 0.000000 meters along route # Maximum depth: 1179.979668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1129.979668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791189; longitude = -121.894828; captureRadius = 10; duration = 109; initialDepth = 1141.851668; finalDepth = 1129.979668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1129.979668 # Seafloor depth:-1179.979668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1191.851668 meters looking forward 0.000000 meters along route # Maximum depth: 1191.851668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1141.851668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.894167; captureRadius = 10; duration = 109; initialDepth = 1145.665485; finalDepth = 1141.851668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1141.851668 # Seafloor depth:-1191.851668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1195.665485 meters looking forward 0.000000 meters along route # Maximum depth: 1195.665485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1145.665485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792919; longitude = -121.893449; captureRadius = 10; duration = 109; initialDepth = 1144.708669; finalDepth = 1145.665485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1145.665485 # Seafloor depth:-1195.665485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1194.708669 meters looking forward 0.000000 meters along route # Maximum depth: 1194.708669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.708669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.892845; captureRadius = 10; duration = 109; initialDepth = 1144.359896; finalDepth = 1144.708669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1144.708669 # Seafloor depth:-1194.708669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1194.359896 meters looking forward 0.000000 meters along route # Maximum depth: 1194.359896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.359896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.892184; captureRadius = 10; duration = 109; initialDepth = 1153.371322; finalDepth = 1144.359896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1144.359896 # Seafloor depth:-1194.359896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1203.371322 meters looking forward 0.000000 meters along route # Maximum depth: 1203.371322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.371322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795346; longitude = -121.891514; captureRadius = 10; duration = 109; initialDepth = 1157.188936; finalDepth = 1153.371322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1153.371322 # Seafloor depth:-1203.371322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1207.188936 meters looking forward 0.000000 meters along route # Maximum depth: 1207.188936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1157.188936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.890861; captureRadius = 10; duration = 109; initialDepth = 1158.249231; finalDepth = 1157.188936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1157.188936 # Seafloor depth:-1207.188936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1208.249231 meters looking forward 0.000000 meters along route # Maximum depth: 1208.249231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1158.249231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -121.890200; captureRadius = 10; duration = 109; initialDepth = 1146.625660; finalDepth = 1158.249231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1158.249231 # Seafloor depth:-1208.249231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1196.625660 meters looking forward 0.000000 meters along route # Maximum depth: 1196.625660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1146.625660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797823; longitude = -121.889539; captureRadius = 10; duration = 109; initialDepth = 1145.292799; finalDepth = 1146.625660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1146.62566 # Seafloor depth:-1196.625660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1195.292799 meters looking forward 0.000000 meters along route # Maximum depth: 1195.292799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1145.292799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798652; longitude = -121.888878; captureRadius = 10; duration = 109; initialDepth = 1149.114153; finalDepth = 1145.292799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1145.292799 # Seafloor depth:-1195.292799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1199.114153 meters looking forward 0.000000 meters along route # Maximum depth: 1199.114153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.114153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799507; longitude = -121.888197; captureRadius = 10; duration = 109; initialDepth = 1148.958314; finalDepth = 1149.114153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1149.114153 # Seafloor depth:-1199.114153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1198.958314 meters looking forward 0.000000 meters along route # Maximum depth: 1198.958314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.958314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800310; longitude = -121.887556; captureRadius = 10; duration = 109; initialDepth = 1145.393133; finalDepth = 1148.958314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1148.958314 # Seafloor depth:-1198.958314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1195.393133 meters looking forward 0.000000 meters along route # Maximum depth: 1195.393133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1145.393133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801140; longitude = -121.886895; captureRadius = 10; duration = 109; initialDepth = 1152.596871; finalDepth = 1145.393133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1145.393133 # Seafloor depth:-1195.393133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1202.596871 meters looking forward 0.000000 meters along route # Maximum depth: 1202.596871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.596871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801969; longitude = -121.886234; captureRadius = 10; duration = 109; initialDepth = 1164.695247; finalDepth = 1152.596871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1152.596871 # Seafloor depth:-1202.596871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1214.695247 meters looking forward 0.000000 meters along route # Maximum depth: 1214.695247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1164.695247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802798; longitude = -121.885573; captureRadius = 10; duration = 109; initialDepth = 1185.927047; finalDepth = 1164.695247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1164.695247 # Seafloor depth:-1214.695247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1235.927047 meters looking forward 0.000000 meters along route # Maximum depth: 1235.927047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1185.927047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803667; longitude = -121.884880; captureRadius = 10; duration = 109; initialDepth = 1157.300369; finalDepth = 1185.927047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1185.927047 # Seafloor depth:-1235.927047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1207.300369 meters looking forward 0.000000 meters along route # Maximum depth: 1207.300369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1157.300369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804456; longitude = -121.884251; captureRadius = 10; duration = 109; initialDepth = 1145.093342; finalDepth = 1157.300369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1157.300369 # Seafloor depth:-1207.300369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1195.093342 meters looking forward 0.000000 meters along route # Maximum depth: 1195.093342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1145.093342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805286; longitude = -121.883590; captureRadius = 10; duration = 109; initialDepth = 1136.143538; finalDepth = 1145.093342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1145.093342 # Seafloor depth:-1195.093342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1186.143538 meters looking forward 0.000000 meters along route # Maximum depth: 1186.143538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.143538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806115; longitude = -121.882929; captureRadius = 10; duration = 109; initialDepth = 1130.398673; finalDepth = 1136.143538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1136.143538 # Seafloor depth:-1186.143538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1180.398673 meters looking forward 0.000000 meters along route # Maximum depth: 1180.398673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.398673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806944; longitude = -121.882268; captureRadius = 10; duration = 109; initialDepth = 1124.907923; finalDepth = 1130.398673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1130.398673 # Seafloor depth:-1180.398673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1174.907923 meters looking forward 0.000000 meters along route # Maximum depth: 1174.907923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.907923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807828; longitude = -121.881563; captureRadius = 10; duration = 109; initialDepth = 1122.365826; finalDepth = 1124.907923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1124.907923 # Seafloor depth:-1174.907923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.637980 meters # Minimum depth: 1172.365826 meters looking forward 0.000000 meters along route # Maximum depth: 1172.365826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.365826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808602; longitude = -121.880946; captureRadius = 10; duration = 109; initialDepth = 1117.620758; finalDepth = 1122.365826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1122.365826 # Seafloor depth:-1172.365826 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 109.637980 meters # Minimum depth: 1167.620758 meters looking forward 0.000000 meters along route # Maximum depth: 1167.620758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.620758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809616; longitude = -121.880138; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1118.290719; finalDepth = 1117.620758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.620758 # Seafloor depth:-1167.620758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 109.637980 meters # Minimum depth: 1168.290719 meters looking forward 0.000000 meters along route # Maximum depth: 1168.290719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1118.290719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809432; longitude = -121.879791; captureRadius = 10; duration = 109; initialDepth = 1121.152344; finalDepth = 1118.290719; 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:1118.290719 # Seafloor depth:-1168.290719 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 109.637980 meters # Minimum depth: 1171.152344 meters looking forward 0.000000 meters along route # Maximum depth: 1171.152344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.152344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808879; longitude = -121.878747; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1120.813778; finalDepth = 1121.152344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1121.152344 # Seafloor depth:-1171.152344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1170.813778 meters looking forward 0.000000 meters along route # Maximum depth: 1170.813778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.813778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808813; longitude = -121.878799; captureRadius = 10; duration = 109; initialDepth = 1128.104953; finalDepth = 1120.813778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1120.813778 # Seafloor depth:-1170.813778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1178.104953 meters looking forward 0.000000 meters along route # Maximum depth: 1178.104953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.104953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808050; longitude = -121.879412; captureRadius = 10; duration = 109; initialDepth = 1128.658796; finalDepth = 1128.104953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1128.104953 # Seafloor depth:-1178.104953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1178.658796 meters looking forward 0.000000 meters along route # Maximum depth: 1178.658796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.658796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807220; longitude = -121.880078; captureRadius = 10; duration = 109; initialDepth = 1125.673275; finalDepth = 1128.658796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1128.658796 # Seafloor depth:-1178.658796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1175.673275 meters looking forward 0.000000 meters along route # Maximum depth: 1175.673275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1125.673275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806391; longitude = -121.880744; captureRadius = 10; duration = 109; initialDepth = 1129.813058; finalDepth = 1125.673275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1125.673275 # Seafloor depth:-1175.673275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1179.813058 meters looking forward 0.000000 meters along route # Maximum depth: 1179.813058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1129.813058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805562; longitude = -121.881409; captureRadius = 10; duration = 109; initialDepth = 1145.818605; finalDepth = 1129.813058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1129.813058 # Seafloor depth:-1179.813058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1195.818605 meters looking forward 0.000000 meters along route # Maximum depth: 1195.818605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1145.818605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804681; longitude = -121.882116; captureRadius = 10; duration = 109; initialDepth = 1163.996487; finalDepth = 1145.818605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1145.818605 # Seafloor depth:-1195.818605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1213.996487 meters looking forward 0.000000 meters along route # Maximum depth: 1213.996487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1163.996487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803904; longitude = -121.882741; captureRadius = 10; duration = 109; initialDepth = 1175.471320; finalDepth = 1163.996487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1163.996487 # Seafloor depth:-1213.996487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1225.471320 meters looking forward 0.000000 meters along route # Maximum depth: 1225.471320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1175.471320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803074; longitude = -121.883406; captureRadius = 10; duration = 109; initialDepth = 1161.785197; finalDepth = 1175.471320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1175.47132 # Seafloor depth:-1225.471320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1211.785197 meters looking forward 0.000000 meters along route # Maximum depth: 1211.785197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1161.785197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802245; longitude = -121.884072; captureRadius = 10; duration = 109; initialDepth = 1147.046988; finalDepth = 1161.785197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1161.785197 # Seafloor depth:-1211.785197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1197.046988 meters looking forward 0.000000 meters along route # Maximum depth: 1197.046988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1147.046988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801416; longitude = -121.884738; captureRadius = 10; duration = 109; initialDepth = 1142.067544; finalDepth = 1147.046988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1147.046988 # Seafloor depth:-1197.046988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1192.067544 meters looking forward 0.000000 meters along route # Maximum depth: 1192.067544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.067544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800550; longitude = -121.885433; captureRadius = 10; duration = 109; initialDepth = 1139.306698; finalDepth = 1142.067544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1142.067544 # Seafloor depth:-1192.067544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1189.306698 meters looking forward 0.000000 meters along route # Maximum depth: 1189.306698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.306698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799758; longitude = -121.886069; captureRadius = 10; duration = 109; initialDepth = 1139.545745; finalDepth = 1139.306698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1139.306698 # Seafloor depth:-1189.306698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1189.545745 meters looking forward 0.000000 meters along route # Maximum depth: 1189.545745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.545745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798928; longitude = -121.886735; captureRadius = 10; duration = 109; initialDepth = 1141.258571; finalDepth = 1139.545745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1139.545745 # Seafloor depth:-1189.545745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1191.258571 meters looking forward 0.000000 meters along route # Maximum depth: 1191.258571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1141.258571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798099; longitude = -121.887401; captureRadius = 10; duration = 109; initialDepth = 1134.702829; finalDepth = 1141.258571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1141.258571 # Seafloor depth:-1191.258571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1184.702829 meters looking forward 0.000000 meters along route # Maximum depth: 1184.702829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1134.702829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797270; longitude = -121.888067; captureRadius = 10; duration = 109; initialDepth = 1154.710890; finalDepth = 1134.702829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1134.702829 # Seafloor depth:-1184.702829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1204.710890 meters looking forward 0.000000 meters along route # Maximum depth: 1204.710890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.710890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796419; longitude = -121.888750; captureRadius = 10; duration = 109; initialDepth = 1157.513708; finalDepth = 1154.710890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1154.71089 # Seafloor depth:-1204.710890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1207.513708 meters looking forward 0.000000 meters along route # Maximum depth: 1207.513708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1157.513708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795611; longitude = -121.889398; captureRadius = 10; duration = 109; initialDepth = 1155.615890; finalDepth = 1157.513708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1157.513708 # Seafloor depth:-1207.513708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1205.615890 meters looking forward 0.000000 meters along route # Maximum depth: 1205.615890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1155.615890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794782; longitude = -121.890064; captureRadius = 10; duration = 109; initialDepth = 1136.811399; finalDepth = 1155.615890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1155.61589 # Seafloor depth:-1205.615890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1186.811399 meters looking forward 0.000000 meters along route # Maximum depth: 1186.811399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.811399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793953; longitude = -121.890730; captureRadius = 10; duration = 109; initialDepth = 1142.170342; finalDepth = 1136.811399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1136.811399 # Seafloor depth:-1186.811399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1192.170342 meters looking forward 0.000000 meters along route # Maximum depth: 1192.170342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.170342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793124; longitude = -121.891395; captureRadius = 10; duration = 109; initialDepth = 1148.457623; finalDepth = 1142.170342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1142.170342 # Seafloor depth:-1192.170342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1198.457623 meters looking forward 0.000000 meters along route # Maximum depth: 1198.457623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.457623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792288; longitude = -121.892067; captureRadius = 10; duration = 109; initialDepth = 1138.080327; finalDepth = 1148.457623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1148.457623 # Seafloor depth:-1198.457623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1188.080327 meters looking forward 0.000000 meters along route # Maximum depth: 1188.080327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.080327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.892727; captureRadius = 10; duration = 109; initialDepth = 1134.282960; finalDepth = 1138.080327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1138.080327 # Seafloor depth:-1188.080327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1184.282960 meters looking forward 0.000000 meters along route # Maximum depth: 1184.282960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1134.282960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790566; longitude = -121.893449; captureRadius = 10; duration = 109; initialDepth = 1135.721333; finalDepth = 1134.282960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1134.28296 # Seafloor depth:-1184.282960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1185.721333 meters looking forward 0.000000 meters along route # Maximum depth: 1185.721333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1135.721333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.894058; captureRadius = 10; duration = 109; initialDepth = 1126.082140; finalDepth = 1135.721333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1135.721333 # Seafloor depth:-1185.721333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1176.082140 meters looking forward 0.000000 meters along route # Maximum depth: 1176.082140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.082140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.894724; captureRadius = 10; duration = 109; initialDepth = 1105.014855; finalDepth = 1126.082140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1126.08214 # Seafloor depth:-1176.082140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1155.014855 meters looking forward 0.000000 meters along route # Maximum depth: 1155.014855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.014855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.895390; captureRadius = 10; duration = 109; initialDepth = 1088.229574; finalDepth = 1105.014855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1105.014855 # Seafloor depth:-1155.014855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1138.229574 meters looking forward 0.000000 meters along route # Maximum depth: 1138.229574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.229574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.896056; captureRadius = 10; duration = 109; initialDepth = 1079.176884; finalDepth = 1088.229574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.229574 # Seafloor depth:-1138.229574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1129.176884 meters looking forward 0.000000 meters along route # Maximum depth: 1129.176884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.176884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786435; longitude = -121.896766; captureRadius = 10; duration = 109; initialDepth = 1072.269042; finalDepth = 1079.176884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.176884 # Seafloor depth:-1129.176884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1122.269042 meters looking forward 0.000000 meters along route # Maximum depth: 1122.269042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.269042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.897387; captureRadius = 10; duration = 109; initialDepth = 1061.099276; finalDepth = 1072.269042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.269042 # Seafloor depth:-1122.269042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.637980 meters # Minimum depth: 1111.099276 meters looking forward 0.000000 meters along route # Maximum depth: 1111.099276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.099276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784714; longitude = -121.898148; captureRadius = 10; duration = 109; initialDepth = 1065.079427; finalDepth = 1061.099276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.099276 # Seafloor depth:-1111.099276 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 109.637980 meters # Minimum depth: 1115.079427 meters looking forward 0.000000 meters along route # Maximum depth: 1115.079427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.079427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783910; longitude = -121.898793; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1070.189261; finalDepth = 1065.079427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.079427 # Seafloor depth:-1115.079427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 109.637980 meters # Minimum depth: 1120.189261 meters looking forward 0.000000 meters along route # Maximum depth: 1120.189261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.189261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.898503; captureRadius = 10; duration = 109; initialDepth = 1077.186035; finalDepth = 1070.189261; 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:1070.189261 # Seafloor depth:-1120.189261 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 109.637980 meters # Minimum depth: 1127.186035 meters looking forward 0.000000 meters along route # Maximum depth: 1127.186035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.186035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781976; longitude = -121.898240; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1073.573123; finalDepth = 1077.186035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1077.186035 # Seafloor depth:-1127.186035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1123.573123 meters looking forward 0.000000 meters along route # Maximum depth: 1123.573123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.573123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.897946; captureRadius = 10; duration = 109; initialDepth = 1066.786968; finalDepth = 1073.573123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.573123 # Seafloor depth:-1123.573123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1116.786968 meters looking forward 0.000000 meters along route # Maximum depth: 1116.786968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.786968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.897284; captureRadius = 10; duration = 109; initialDepth = 1069.326949; finalDepth = 1066.786968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.786968 # Seafloor depth:-1116.786968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1119.326949 meters looking forward 0.000000 meters along route # Maximum depth: 1119.326949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.326949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.896622; captureRadius = 10; duration = 109; initialDepth = 1080.987391; finalDepth = 1069.326949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.326949 # Seafloor depth:-1119.326949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1130.987391 meters looking forward 0.000000 meters along route # Maximum depth: 1130.987391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.987391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784861; longitude = -121.895936; captureRadius = 10; duration = 109; initialDepth = 1092.971848; finalDepth = 1080.987391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.987391 # Seafloor depth:-1130.987391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1142.971848 meters looking forward 0.000000 meters along route # Maximum depth: 1142.971848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.971848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.895298; captureRadius = 10; duration = 109; initialDepth = 1112.825629; finalDepth = 1092.971848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.971848 # Seafloor depth:-1142.971848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1162.825629 meters looking forward 0.000000 meters along route # Maximum depth: 1162.825629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.825629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.894636; captureRadius = 10; duration = 109; initialDepth = 1123.744673; finalDepth = 1112.825629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.825629 # Seafloor depth:-1162.825629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1173.744673 meters looking forward 0.000000 meters along route # Maximum depth: 1173.744673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1123.744673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.893974; captureRadius = 10; duration = 109; initialDepth = 1131.087355; finalDepth = 1123.744673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1123.744673 # Seafloor depth:-1173.744673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1181.087355 meters looking forward 0.000000 meters along route # Maximum depth: 1181.087355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.087355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.893313; captureRadius = 10; duration = 109; initialDepth = 1137.753298; finalDepth = 1131.087355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1131.087355 # Seafloor depth:-1181.087355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1187.753298 meters looking forward 0.000000 meters along route # Maximum depth: 1187.753298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1137.753298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789017; longitude = -121.892620; captureRadius = 10; duration = 109; initialDepth = 1142.085789; finalDepth = 1137.753298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1137.753298 # Seafloor depth:-1187.753298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1192.085789 meters looking forward 0.000000 meters along route # Maximum depth: 1192.085789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.085789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.891989; captureRadius = 10; duration = 109; initialDepth = 1148.261007; finalDepth = 1142.085789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1142.085789 # Seafloor depth:-1192.085789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1198.261007 meters looking forward 0.000000 meters along route # Maximum depth: 1198.261007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.261007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790636; longitude = -121.891327; captureRadius = 10; duration = 109; initialDepth = 1147.242571; finalDepth = 1148.261007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1148.261007 # Seafloor depth:-1198.261007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1197.242571 meters looking forward 0.000000 meters along route # Maximum depth: 1197.242571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1147.242571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.890665; captureRadius = 10; duration = 109; initialDepth = 1130.930980; finalDepth = 1147.242571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1147.242571 # Seafloor depth:-1197.242571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1180.930980 meters looking forward 0.000000 meters along route # Maximum depth: 1180.930980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.930980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792295; longitude = -121.890003; captureRadius = 10; duration = 109; initialDepth = 1134.586997; finalDepth = 1130.930980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1130.93098 # Seafloor depth:-1180.930980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1184.586997 meters looking forward 0.000000 meters along route # Maximum depth: 1184.586997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1134.586997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793172; longitude = -121.889303; captureRadius = 10; duration = 109; initialDepth = 1142.235451; finalDepth = 1134.586997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1134.586997 # Seafloor depth:-1184.586997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1192.235451 meters looking forward 0.000000 meters along route # Maximum depth: 1192.235451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.235451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793953; longitude = -121.888680; captureRadius = 10; duration = 109; initialDepth = 1153.414763; finalDepth = 1142.235451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1142.235451 # Seafloor depth:-1192.235451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1203.414763 meters looking forward 0.000000 meters along route # Maximum depth: 1203.414763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.414763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794782; longitude = -121.888018; captureRadius = 10; duration = 109; initialDepth = 1143.657366; finalDepth = 1153.414763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1153.414763 # Seafloor depth:-1203.414763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1193.657366 meters looking forward 0.000000 meters along route # Maximum depth: 1193.657366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.657366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795611; longitude = -121.887356; captureRadius = 10; duration = 109; initialDepth = 1131.029215; finalDepth = 1143.657366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1143.657366 # Seafloor depth:-1193.657366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1181.029215 meters looking forward 0.000000 meters along route # Maximum depth: 1181.029215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.029215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796441; longitude = -121.886694; captureRadius = 10; duration = 109; initialDepth = 1131.207894; finalDepth = 1131.029215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1131.029215 # Seafloor depth:-1181.029215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1181.207894 meters looking forward 0.000000 meters along route # Maximum depth: 1181.207894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.207894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797328; longitude = -121.885986; captureRadius = 10; duration = 109; initialDepth = 1131.671087; finalDepth = 1131.207894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1131.207894 # Seafloor depth:-1181.207894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1181.671087 meters looking forward 0.000000 meters along route # Maximum depth: 1181.671087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.671087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798099; longitude = -121.885370; captureRadius = 10; duration = 109; initialDepth = 1135.257253; finalDepth = 1131.671087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1131.671087 # Seafloor depth:-1181.671087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1185.257253 meters looking forward 0.000000 meters along route # Maximum depth: 1185.257253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1135.257253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798928; longitude = -121.884708; captureRadius = 10; duration = 109; initialDepth = 1135.856345; finalDepth = 1135.257253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1135.257253 # Seafloor depth:-1185.257253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1185.856345 meters looking forward 0.000000 meters along route # Maximum depth: 1185.856345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1135.856345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799758; longitude = -121.884047; captureRadius = 10; duration = 109; initialDepth = 1147.265739; finalDepth = 1135.856345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1135.856345 # Seafloor depth:-1185.856345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1197.265739 meters looking forward 0.000000 meters along route # Maximum depth: 1197.265739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1147.265739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800587; longitude = -121.883385; captureRadius = 10; duration = 109; initialDepth = 1169.095821; finalDepth = 1147.265739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1147.265739 # Seafloor depth:-1197.265739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1219.095821 meters looking forward 0.000000 meters along route # Maximum depth: 1219.095821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1169.095821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801483; longitude = -121.882669; captureRadius = 10; duration = 109; initialDepth = 1170.380754; finalDepth = 1169.095821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1169.095821 # Seafloor depth:-1219.095821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1220.380754 meters looking forward 0.000000 meters along route # Maximum depth: 1220.380754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.380754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802245; longitude = -121.882061; captureRadius = 10; duration = 109; initialDepth = 1152.265369; finalDepth = 1170.380754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1170.380754 # Seafloor depth:-1220.380754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1202.265369 meters looking forward 0.000000 meters along route # Maximum depth: 1202.265369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.265369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803074; longitude = -121.881399; captureRadius = 10; duration = 109; initialDepth = 1145.411212; finalDepth = 1152.265369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1152.265369 # Seafloor depth:-1202.265369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1195.411212 meters looking forward 0.000000 meters along route # Maximum depth: 1195.411212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1145.411212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803908; longitude = -121.880734; captureRadius = 10; duration = 109; initialDepth = 1130.237415; finalDepth = 1145.411212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1145.411212 # Seafloor depth:-1195.411212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1180.237415 meters looking forward 0.000000 meters along route # Maximum depth: 1180.237415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.237415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804733; longitude = -121.880075; captureRadius = 10; duration = 109; initialDepth = 1122.709720; finalDepth = 1130.237415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1130.237415 # Seafloor depth:-1180.237415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1172.709720 meters looking forward 0.000000 meters along route # Maximum depth: 1172.709720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.709720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805562; longitude = -121.879414; captureRadius = 10; duration = 109; initialDepth = 1123.937409; finalDepth = 1122.709720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1122.70972 # Seafloor depth:-1172.709720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1173.937409 meters looking forward 0.000000 meters along route # Maximum depth: 1173.937409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1123.937409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806391; longitude = -121.878752; captureRadius = 10; duration = 109; initialDepth = 1124.113413; finalDepth = 1123.937409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1123.937409 # Seafloor depth:-1173.937409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.637980 meters # Minimum depth: 1174.113413 meters looking forward 0.000000 meters along route # Maximum depth: 1174.113413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.113413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807370; longitude = -121.877970; captureRadius = 10; duration = 109; initialDepth = 1118.329407; finalDepth = 1124.113413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1124.113413 # Seafloor depth:-1174.113413 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 109.637980 meters # Minimum depth: 1168.329407 meters looking forward 0.000000 meters along route # Maximum depth: 1168.329407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1118.329407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808142; longitude = -121.877355; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1117.987540; finalDepth = 1118.329407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1118.329407 # Seafloor depth:-1168.329407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.637980 meters # Minimum depth: 1167.987540 meters looking forward 0.000000 meters along route # Maximum depth: 1167.987540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.987540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808028; longitude = -121.877141; captureRadius = 10; duration = 109; initialDepth = 1115.853607; finalDepth = 1117.987540; 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:1117.98754 # Seafloor depth:-1167.987540 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 109.637980 meters # Minimum depth: 1165.853607 meters looking forward 0.000000 meters along route # Maximum depth: 1165.853607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.853607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807405; longitude = -121.875963; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1115.575577; finalDepth = 1115.853607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.853607 # Seafloor depth:-1165.853607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1165.575577 meters looking forward 0.000000 meters along route # Maximum depth: 1165.575577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.575577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806944; longitude = -121.876332; captureRadius = 10; duration = 109; initialDepth = 1116.916903; finalDepth = 1115.575577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.575577 # Seafloor depth:-1165.575577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1166.916903 meters looking forward 0.000000 meters along route # Maximum depth: 1166.916903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.916903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806115; longitude = -121.876998; captureRadius = 10; duration = 109; initialDepth = 1117.121592; finalDepth = 1116.916903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1116.916903 # Seafloor depth:-1166.916903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1167.121592 meters looking forward 0.000000 meters along route # Maximum depth: 1167.121592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.121592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805248; longitude = -121.877694; captureRadius = 10; duration = 109; initialDepth = 1124.198564; finalDepth = 1117.121592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.121592 # Seafloor depth:-1167.121592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1174.198564 meters looking forward 0.000000 meters along route # Maximum depth: 1174.198564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.198564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804456; longitude = -121.878329; captureRadius = 10; duration = 109; initialDepth = 1132.248080; finalDepth = 1124.198564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1124.198564 # Seafloor depth:-1174.198564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1182.248080 meters looking forward 0.000000 meters along route # Maximum depth: 1182.248080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1132.248080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803627; longitude = -121.878995; captureRadius = 10; duration = 109; initialDepth = 1136.721665; finalDepth = 1132.248080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1132.24808 # Seafloor depth:-1182.248080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1186.721665 meters looking forward 0.000000 meters along route # Maximum depth: 1186.721665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.721665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802798; longitude = -121.879660; captureRadius = 10; duration = 109; initialDepth = 1154.319254; finalDepth = 1136.721665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1136.721665 # Seafloor depth:-1186.721665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1204.319254 meters looking forward 0.000000 meters along route # Maximum depth: 1204.319254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.319254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801969; longitude = -121.880326; captureRadius = 10; duration = 109; initialDepth = 1170.923038; finalDepth = 1154.319254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1154.319254 # Seafloor depth:-1204.319254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1220.923038 meters looking forward 0.000000 meters along route # Maximum depth: 1220.923038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.923038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801116; longitude = -121.881011; captureRadius = 10; duration = 109; initialDepth = 1158.046781; finalDepth = 1170.923038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1170.923038 # Seafloor depth:-1220.923038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1208.046781 meters looking forward 0.000000 meters along route # Maximum depth: 1208.046781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1158.046781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800310; longitude = -121.881657; captureRadius = 10; duration = 109; initialDepth = 1161.601983; finalDepth = 1158.046781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1158.046781 # Seafloor depth:-1208.046781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1211.601983 meters looking forward 0.000000 meters along route # Maximum depth: 1211.601983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1161.601983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799481; longitude = -121.882323; captureRadius = 10; duration = 109; initialDepth = 1130.037188; finalDepth = 1161.601983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1161.601983 # Seafloor depth:-1211.601983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1180.037188 meters looking forward 0.000000 meters along route # Maximum depth: 1180.037188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.037188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798652; longitude = -121.882988; captureRadius = 10; duration = 109; initialDepth = 1128.564683; finalDepth = 1130.037188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1130.037188 # Seafloor depth:-1180.037188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1178.564683 meters looking forward 0.000000 meters along route # Maximum depth: 1178.564683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.564683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797823; longitude = -121.883654; captureRadius = 10; duration = 109; initialDepth = 1127.079652; finalDepth = 1128.564683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1128.564683 # Seafloor depth:-1178.564683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1177.079652 meters looking forward 0.000000 meters along route # Maximum depth: 1177.079652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.079652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796984; longitude = -121.884327; captureRadius = 10; duration = 109; initialDepth = 1124.977072; finalDepth = 1127.079652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1127.079652 # Seafloor depth:-1177.079652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1174.977072 meters looking forward 0.000000 meters along route # Maximum depth: 1174.977072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.977072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.884985; captureRadius = 10; duration = 109; initialDepth = 1127.601882; finalDepth = 1124.977072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1124.977072 # Seafloor depth:-1174.977072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1177.601882 meters looking forward 0.000000 meters along route # Maximum depth: 1177.601882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.601882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795262; longitude = -121.885709; captureRadius = 10; duration = 109; initialDepth = 1144.564039; finalDepth = 1127.601882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1127.601882 # Seafloor depth:-1177.601882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1194.564039 meters looking forward 0.000000 meters along route # Maximum depth: 1194.564039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.564039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.886316; captureRadius = 10; duration = 109; initialDepth = 1147.028696; finalDepth = 1144.564039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1144.564039 # Seafloor depth:-1194.564039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1197.028696 meters looking forward 0.000000 meters along route # Maximum depth: 1197.028696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1147.028696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.886982; captureRadius = 10; duration = 109; initialDepth = 1130.862637; finalDepth = 1147.028696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1147.028696 # Seafloor depth:-1197.028696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1180.862637 meters looking forward 0.000000 meters along route # Maximum depth: 1180.862637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.862637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792847; longitude = -121.887647; captureRadius = 10; duration = 109; initialDepth = 1128.503205; finalDepth = 1130.862637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1130.862637 # Seafloor depth:-1180.862637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1178.503205 meters looking forward 0.000000 meters along route # Maximum depth: 1178.503205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.503205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.888313; captureRadius = 10; duration = 109; initialDepth = 1126.401455; finalDepth = 1128.503205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1128.503205 # Seafloor depth:-1178.503205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1176.401455 meters looking forward 0.000000 meters along route # Maximum depth: 1176.401455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.401455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791130; longitude = -121.889026; captureRadius = 10; duration = 109; initialDepth = 1132.574598; finalDepth = 1126.401455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1126.401455 # Seafloor depth:-1176.401455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1182.574598 meters looking forward 0.000000 meters along route # Maximum depth: 1182.574598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1132.574598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790360; longitude = -121.889644; captureRadius = 10; duration = 109; initialDepth = 1148.190564; finalDepth = 1132.574598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1132.574598 # Seafloor depth:-1182.574598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1198.190564 meters looking forward 0.000000 meters along route # Maximum depth: 1198.190564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.190564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.890310; captureRadius = 10; duration = 109; initialDepth = 1149.130450; finalDepth = 1148.190564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1148.190564 # Seafloor depth:-1198.190564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1199.130450 meters looking forward 0.000000 meters along route # Maximum depth: 1199.130450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.130450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.890975; captureRadius = 10; duration = 109; initialDepth = 1148.004701; finalDepth = 1149.130450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1149.13045 # Seafloor depth:-1199.130450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1198.004701 meters looking forward 0.000000 meters along route # Maximum depth: 1198.004701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.004701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.891641; captureRadius = 10; duration = 109; initialDepth = 1142.524582; finalDepth = 1148.004701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1148.004701 # Seafloor depth:-1198.004701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1192.524582 meters looking forward 0.000000 meters along route # Maximum depth: 1192.524582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.524582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786997; longitude = -121.892343; captureRadius = 10; duration = 109; initialDepth = 1123.613023; finalDepth = 1142.524582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1142.524582 # Seafloor depth:-1192.524582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1173.613023 meters looking forward 0.000000 meters along route # Maximum depth: 1173.613023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1123.613023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786214; longitude = -121.892972; captureRadius = 10; duration = 109; initialDepth = 1117.881352; finalDepth = 1123.613023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1123.613023 # Seafloor depth:-1173.613023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1167.881352 meters looking forward 0.000000 meters along route # Maximum depth: 1167.881352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.881352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.893638; captureRadius = 10; duration = 109; initialDepth = 1108.110319; finalDepth = 1117.881352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.881352 # Seafloor depth:-1167.881352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1158.110319 meters looking forward 0.000000 meters along route # Maximum depth: 1158.110319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.110319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.894303; captureRadius = 10; duration = 109; initialDepth = 1094.745477; finalDepth = 1108.110319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.110319 # Seafloor depth:-1158.110319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1144.745477 meters looking forward 0.000000 meters along route # Maximum depth: 1144.745477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.745477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.894969; captureRadius = 10; duration = 109; initialDepth = 1085.344572; finalDepth = 1094.745477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.745477 # Seafloor depth:-1144.745477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1135.344572 meters looking forward 0.000000 meters along route # Maximum depth: 1135.344572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.344572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782865; longitude = -121.895660; captureRadius = 10; duration = 109; initialDepth = 1081.680605; finalDepth = 1085.344572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1085.344572 # Seafloor depth:-1135.344572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1131.680605 meters looking forward 0.000000 meters along route # Maximum depth: 1131.680605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.680605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782068; longitude = -121.896300; captureRadius = 10; duration = 109; initialDepth = 1084.619709; finalDepth = 1081.680605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.680605 # Seafloor depth:-1131.680605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.637980 meters # Minimum depth: 1134.619709 meters looking forward 0.000000 meters along route # Maximum depth: 1134.619709 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.619709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781143; longitude = -121.897042; captureRadius = 10; duration = 109; initialDepth = 1095.638184; finalDepth = 1084.619709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.619709 # Seafloor depth:-1134.619709 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 109.637980 meters # Minimum depth: 1145.638184 meters looking forward 0.000000 meters along route # Maximum depth: 1145.638184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.638184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780225; longitude = -121.897779; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1102.621530; finalDepth = 1095.638184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.638184 # Seafloor depth:-1145.638184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.637980 meters # Minimum depth: 1152.621530 meters looking forward 0.000000 meters along route # Maximum depth: 1152.621530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.621530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779304; longitude = -121.897516; captureRadius = 10; duration = 109; initialDepth = 1107.579590; finalDepth = 1102.621530; 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:1102.62153 # Seafloor depth:-1152.621530 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 109.637980 meters # Minimum depth: 1157.579590 meters looking forward 0.000000 meters along route # Maximum depth: 1157.579590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.579590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778290; longitude = -121.897226; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1106.702791; finalDepth = 1107.579590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.57959 # Seafloor depth:-1157.579590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1156.702791 meters looking forward 0.000000 meters along route # Maximum depth: 1156.702791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.702791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778521; longitude = -121.897042; captureRadius = 10; duration = 109; initialDepth = 1103.626609; finalDepth = 1106.702791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.702791 # Seafloor depth:-1156.702791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1153.626609 meters looking forward 0.000000 meters along route # Maximum depth: 1153.626609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.626609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779304; longitude = -121.896417; captureRadius = 10; duration = 109; initialDepth = 1101.420455; finalDepth = 1103.626609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.626609 # Seafloor depth:-1153.626609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1151.420455 meters looking forward 0.000000 meters along route # Maximum depth: 1151.420455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.420455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780133; longitude = -121.895755; captureRadius = 10; duration = 109; initialDepth = 1104.986479; finalDepth = 1101.420455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.420455 # Seafloor depth:-1151.420455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1154.986479 meters looking forward 0.000000 meters along route # Maximum depth: 1154.986479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.986479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.895093; captureRadius = 10; duration = 109; initialDepth = 1109.053290; finalDepth = 1104.986479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1104.986479 # Seafloor depth:-1154.986479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1159.053290 meters looking forward 0.000000 meters along route # Maximum depth: 1159.053290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.053290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.894431; captureRadius = 10; duration = 109; initialDepth = 1117.929633; finalDepth = 1109.053290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.05329 # Seafloor depth:-1159.053290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1167.929633 meters looking forward 0.000000 meters along route # Maximum depth: 1167.929633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.929633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782676; longitude = -121.893725; captureRadius = 10; duration = 109; initialDepth = 1120.309884; finalDepth = 1117.929633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.929633 # Seafloor depth:-1167.929633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1170.309884 meters looking forward 0.000000 meters along route # Maximum depth: 1170.309884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.309884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783450; longitude = -121.893107; captureRadius = 10; duration = 109; initialDepth = 1122.777832; finalDepth = 1120.309884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1120.309884 # Seafloor depth:-1170.309884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1172.777832 meters looking forward 0.000000 meters along route # Maximum depth: 1172.777832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.777832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.892445; captureRadius = 10; duration = 109; initialDepth = 1137.175115; finalDepth = 1122.777832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1122.777832 # Seafloor depth:-1172.777832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1187.175115 meters looking forward 0.000000 meters along route # Maximum depth: 1187.175115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1137.175115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.891783; captureRadius = 10; duration = 109; initialDepth = 1144.283976; finalDepth = 1137.175115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1137.175115 # Seafloor depth:-1187.175115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1194.283976 meters looking forward 0.000000 meters along route # Maximum depth: 1194.283976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.283976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.891121; captureRadius = 10; duration = 109; initialDepth = 1139.611852; finalDepth = 1144.283976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1144.283976 # Seafloor depth:-1194.283976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1189.611852 meters looking forward 0.000000 meters along route # Maximum depth: 1189.611852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.611852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786830; longitude = -121.890408; captureRadius = 10; duration = 109; initialDepth = 1133.181194; finalDepth = 1139.611852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1139.611852 # Seafloor depth:-1189.611852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1183.181194 meters looking forward 0.000000 meters along route # Maximum depth: 1183.181194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.181194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787596; longitude = -121.889797; captureRadius = 10; duration = 109; initialDepth = 1128.248983; finalDepth = 1133.181194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1133.181194 # Seafloor depth:-1183.181194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1178.248983 meters looking forward 0.000000 meters along route # Maximum depth: 1178.248983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.248983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788425; longitude = -121.889135; captureRadius = 10; duration = 109; initialDepth = 1124.398635; finalDepth = 1128.248983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1128.248983 # Seafloor depth:-1178.248983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1174.398635 meters looking forward 0.000000 meters along route # Maximum depth: 1174.398635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.398635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789254; longitude = -121.888473; captureRadius = 10; duration = 109; initialDepth = 1124.199093; finalDepth = 1124.398635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1124.398635 # Seafloor depth:-1174.398635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1174.199093 meters looking forward 0.000000 meters along route # Maximum depth: 1174.199093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.199093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.887811; captureRadius = 10; duration = 109; initialDepth = 1126.394448; finalDepth = 1124.199093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1124.199093 # Seafloor depth:-1174.199093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1176.394448 meters looking forward 0.000000 meters along route # Maximum depth: 1176.394448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.394448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790985; longitude = -121.887091; captureRadius = 10; duration = 109; initialDepth = 1123.233880; finalDepth = 1126.394448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1126.394448 # Seafloor depth:-1176.394448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1173.233880 meters looking forward 0.000000 meters along route # Maximum depth: 1173.233880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1123.233880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791742; longitude = -121.886487; captureRadius = 10; duration = 109; initialDepth = 1137.910991; finalDepth = 1123.233880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1123.23388 # Seafloor depth:-1173.233880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1187.910991 meters looking forward 0.000000 meters along route # Maximum depth: 1187.910991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1137.910991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792571; longitude = -121.885825; captureRadius = 10; duration = 109; initialDepth = 1144.328480; finalDepth = 1137.910991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1137.910991 # Seafloor depth:-1187.910991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1194.328480 meters looking forward 0.000000 meters along route # Maximum depth: 1194.328480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.328480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793408; longitude = -121.885157; captureRadius = 10; duration = 109; initialDepth = 1126.222890; finalDepth = 1144.328480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1144.32848 # Seafloor depth:-1194.328480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1176.222890 meters looking forward 0.000000 meters along route # Maximum depth: 1176.222890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.222890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794229; longitude = -121.884501; captureRadius = 10; duration = 109; initialDepth = 1118.104895; finalDepth = 1126.222890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1126.22289 # Seafloor depth:-1176.222890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1168.104895 meters looking forward 0.000000 meters along route # Maximum depth: 1168.104895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1118.104895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795059; longitude = -121.883839; captureRadius = 10; duration = 109; initialDepth = 1119.524220; finalDepth = 1118.104895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1118.104895 # Seafloor depth:-1168.104895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1169.524220 meters looking forward 0.000000 meters along route # Maximum depth: 1169.524220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.524220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795888; longitude = -121.883177; captureRadius = 10; duration = 109; initialDepth = 1120.674621; finalDepth = 1119.524220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1119.52422 # Seafloor depth:-1169.524220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1170.674621 meters looking forward 0.000000 meters along route # Maximum depth: 1170.674621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.674621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796717; longitude = -121.882515; captureRadius = 10; duration = 109; initialDepth = 1124.769567; finalDepth = 1120.674621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1120.674621 # Seafloor depth:-1170.674621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1174.769567 meters looking forward 0.000000 meters along route # Maximum depth: 1174.769567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.769567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797563; longitude = -121.881840; captureRadius = 10; duration = 109; initialDepth = 1145.306949; finalDepth = 1124.769567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1124.769567 # Seafloor depth:-1174.769567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1195.306949 meters looking forward 0.000000 meters along route # Maximum depth: 1195.306949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1145.306949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798376; longitude = -121.881191; captureRadius = 10; duration = 109; initialDepth = 1136.102809; finalDepth = 1145.306949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1145.306949 # Seafloor depth:-1195.306949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1186.102809 meters looking forward 0.000000 meters along route # Maximum depth: 1186.102809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.102809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799205; longitude = -121.880529; captureRadius = 10; duration = 109; initialDepth = 1130.222447; finalDepth = 1136.102809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1136.102809 # Seafloor depth:-1186.102809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1180.222447 meters looking forward 0.000000 meters along route # Maximum depth: 1180.222447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.222447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800034; longitude = -121.879867; captureRadius = 10; duration = 109; initialDepth = 1136.707471; finalDepth = 1130.222447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1130.222447 # Seafloor depth:-1180.222447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1186.707471 meters looking forward 0.000000 meters along route # Maximum depth: 1186.707471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.707471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800863; longitude = -121.879205; captureRadius = 10; duration = 109; initialDepth = 1129.474578; finalDepth = 1136.707471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1136.707471 # Seafloor depth:-1186.707471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1179.474578 meters looking forward 0.000000 meters along route # Maximum depth: 1179.474578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1129.474578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801717; longitude = -121.878523; captureRadius = 10; duration = 109; initialDepth = 1126.393608; finalDepth = 1129.474578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1129.474578 # Seafloor depth:-1179.474578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1176.393608 meters looking forward 0.000000 meters along route # Maximum depth: 1176.393608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.393608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802522; longitude = -121.877881; captureRadius = 10; duration = 109; initialDepth = 1122.734929; finalDepth = 1126.393608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1126.393608 # Seafloor depth:-1176.393608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1172.734929 meters looking forward 0.000000 meters along route # Maximum depth: 1172.734929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.734929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803351; longitude = -121.877219; captureRadius = 10; duration = 109; initialDepth = 1117.699497; finalDepth = 1122.734929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1122.734929 # Seafloor depth:-1172.734929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1167.699497 meters looking forward 0.000000 meters along route # Maximum depth: 1167.699497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.699497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804180; longitude = -121.876557; captureRadius = 10; duration = 109; initialDepth = 1113.517244; finalDepth = 1117.699497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.699497 # Seafloor depth:-1167.699497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1163.517244 meters looking forward 0.000000 meters along route # Maximum depth: 1163.517244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1113.517244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805009; longitude = -121.875895; captureRadius = 10; duration = 109; initialDepth = 1111.934958; finalDepth = 1113.517244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1113.517244 # Seafloor depth:-1163.517244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.637980 meters # Minimum depth: 1161.934958 meters looking forward 0.000000 meters along route # Maximum depth: 1161.934958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.934958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805872; longitude = -121.875206; captureRadius = 10; duration = 109; initialDepth = 1109.633484; finalDepth = 1111.934958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1111.934958 # Seafloor depth:-1161.934958 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 109.637980 meters # Minimum depth: 1159.633484 meters looking forward 0.000000 meters along route # Maximum depth: 1159.633484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.633484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806668; longitude = -121.874571; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1108.192694; finalDepth = 1109.633484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.633484 # Seafloor depth:-1159.633484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.637980 meters # Minimum depth: 1158.192694 meters looking forward 0.000000 meters along route # Maximum depth: 1158.192694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.192694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806565; longitude = -121.874377; captureRadius = 10; duration = 109; initialDepth = 1105.736633; finalDepth = 1108.192694; 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:1108.192694 # Seafloor depth:-1158.192694 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 109.637980 meters # Minimum depth: 1155.736633 meters looking forward 0.000000 meters along route # Maximum depth: 1155.736633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.736633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805931; longitude = -121.873179; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1106.039720; finalDepth = 1105.736633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1105.736633 # Seafloor depth:-1155.736633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1156.039720 meters looking forward 0.000000 meters along route # Maximum depth: 1156.039720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.039720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805562; longitude = -121.873472; captureRadius = 10; duration = 109; initialDepth = 1107.694241; finalDepth = 1106.039720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.03972 # Seafloor depth:-1156.039720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1157.694241 meters looking forward 0.000000 meters along route # Maximum depth: 1157.694241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.694241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804733; longitude = -121.874131; captureRadius = 10; duration = 109; initialDepth = 1108.954631; finalDepth = 1107.694241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.694241 # Seafloor depth:-1157.694241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1158.954631 meters looking forward 0.000000 meters along route # Maximum depth: 1158.954631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.954631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803904; longitude = -121.874789; captureRadius = 10; duration = 109; initialDepth = 1116.520723; finalDepth = 1108.954631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.954631 # Seafloor depth:-1158.954631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1166.520723 meters looking forward 0.000000 meters along route # Maximum depth: 1166.520723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.520723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803031; longitude = -121.875482; captureRadius = 10; duration = 109; initialDepth = 1122.035145; finalDepth = 1116.520723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1116.520723 # Seafloor depth:-1166.520723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1172.035145 meters looking forward 0.000000 meters along route # Maximum depth: 1172.035145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.035145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802245; longitude = -121.876107; captureRadius = 10; duration = 109; initialDepth = 1128.120674; finalDepth = 1122.035145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1122.035145 # Seafloor depth:-1172.035145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1178.120674 meters looking forward 0.000000 meters along route # Maximum depth: 1178.120674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.120674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801416; longitude = -121.876765; captureRadius = 10; duration = 109; initialDepth = 1126.256453; finalDepth = 1128.120674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1128.120674 # Seafloor depth:-1178.120674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1176.256453 meters looking forward 0.000000 meters along route # Maximum depth: 1176.256453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.256453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800587; longitude = -121.877424; captureRadius = 10; duration = 109; initialDepth = 1125.871571; finalDepth = 1126.256453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1126.256453 # Seafloor depth:-1176.256453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1175.871571 meters looking forward 0.000000 meters along route # Maximum depth: 1175.871571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1125.871571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799758; longitude = -121.878083; captureRadius = 10; duration = 109; initialDepth = 1122.968993; finalDepth = 1125.871571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1125.871571 # Seafloor depth:-1175.871571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1172.968993 meters looking forward 0.000000 meters along route # Maximum depth: 1172.968993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.968993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798928; longitude = -121.878742; captureRadius = 10; duration = 109; initialDepth = 1120.676551; finalDepth = 1122.968993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1122.968993 # Seafloor depth:-1172.968993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1170.676551 meters looking forward 0.000000 meters along route # Maximum depth: 1170.676551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.676551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798099; longitude = -121.879400; captureRadius = 10; duration = 109; initialDepth = 1126.683559; finalDepth = 1120.676551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1120.676551 # Seafloor depth:-1170.676551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1176.683559 meters looking forward 0.000000 meters along route # Maximum depth: 1176.683559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.683559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797270; longitude = -121.880059; captureRadius = 10; duration = 109; initialDepth = 1119.509139; finalDepth = 1126.683559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1126.683559 # Seafloor depth:-1176.683559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1169.509139 meters looking forward 0.000000 meters along route # Maximum depth: 1169.509139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.509139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796420; longitude = -121.880734; captureRadius = 10; duration = 109; initialDepth = 1109.109044; finalDepth = 1119.509139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1119.509139 # Seafloor depth:-1169.509139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1159.109044 meters looking forward 0.000000 meters along route # Maximum depth: 1159.109044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.109044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795611; longitude = -121.881377; captureRadius = 10; duration = 109; initialDepth = 1110.564443; finalDepth = 1109.109044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.109044 # Seafloor depth:-1159.109044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1160.564443 meters looking forward 0.000000 meters along route # Maximum depth: 1160.564443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.564443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794782; longitude = -121.882035; captureRadius = 10; duration = 109; initialDepth = 1114.158200; finalDepth = 1110.564443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1110.564443 # Seafloor depth:-1160.564443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1164.158200 meters looking forward 0.000000 meters along route # Maximum depth: 1164.158200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.158200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793953; longitude = -121.882694; captureRadius = 10; duration = 109; initialDepth = 1119.520314; finalDepth = 1114.158200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1114.1582 # Seafloor depth:-1164.158200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1169.520314 meters looking forward 0.000000 meters along route # Maximum depth: 1169.520314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.520314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793124; longitude = -121.883353; captureRadius = 10; duration = 109; initialDepth = 1143.877943; finalDepth = 1119.520314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1119.520314 # Seafloor depth:-1169.520314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1193.877943 meters looking forward 0.000000 meters along route # Maximum depth: 1193.877943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.877943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792245; longitude = -121.884051; captureRadius = 10; duration = 109; initialDepth = 1132.271723; finalDepth = 1143.877943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1143.877943 # Seafloor depth:-1193.877943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1182.271723 meters looking forward 0.000000 meters along route # Maximum depth: 1182.271723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1132.271723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.884670; captureRadius = 10; duration = 109; initialDepth = 1117.979865; finalDepth = 1132.271723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1132.271723 # Seafloor depth:-1182.271723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1167.979865 meters looking forward 0.000000 meters along route # Maximum depth: 1167.979865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.979865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790636; longitude = -121.885329; captureRadius = 10; duration = 109; initialDepth = 1120.210953; finalDepth = 1117.979865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.979865 # Seafloor depth:-1167.979865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1170.210953 meters looking forward 0.000000 meters along route # Maximum depth: 1170.210953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.210953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.885988; captureRadius = 10; duration = 109; initialDepth = 1122.795644; finalDepth = 1120.210953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1120.210953 # Seafloor depth:-1170.210953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1172.795644 meters looking forward 0.000000 meters along route # Maximum depth: 1172.795644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.795644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.886646; captureRadius = 10; duration = 109; initialDepth = 1121.337702; finalDepth = 1122.795644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1122.795644 # Seafloor depth:-1172.795644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1171.337702 meters looking forward 0.000000 meters along route # Maximum depth: 1171.337702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.337702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.887305; captureRadius = 10; duration = 109; initialDepth = 1121.401239; finalDepth = 1121.337702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1121.337702 # Seafloor depth:-1171.337702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1171.401239 meters looking forward 0.000000 meters along route # Maximum depth: 1171.401239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.401239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.887964; captureRadius = 10; duration = 109; initialDepth = 1126.025653; finalDepth = 1121.401239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1121.401239 # Seafloor depth:-1171.401239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1176.025653 meters looking forward 0.000000 meters along route # Maximum depth: 1176.025653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.025653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.888622; captureRadius = 10; duration = 109; initialDepth = 1136.551322; finalDepth = 1126.025653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1126.025653 # Seafloor depth:-1176.025653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1186.551322 meters looking forward 0.000000 meters along route # Maximum depth: 1186.551322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.551322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785634; longitude = -121.889303; captureRadius = 10; duration = 109; initialDepth = 1140.106217; finalDepth = 1136.551322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1136.551322 # Seafloor depth:-1186.551322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1190.106217 meters looking forward 0.000000 meters along route # Maximum depth: 1190.106217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1140.106217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.889940; captureRadius = 10; duration = 109; initialDepth = 1134.519274; finalDepth = 1140.106217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1140.106217 # Seafloor depth:-1190.106217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1184.519274 meters looking forward 0.000000 meters along route # Maximum depth: 1184.519274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1134.519274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.890599; captureRadius = 10; duration = 109; initialDepth = 1125.210313; finalDepth = 1134.519274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1134.519274 # Seafloor depth:-1184.519274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1175.210313 meters looking forward 0.000000 meters along route # Maximum depth: 1175.210313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1125.210313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.891257; captureRadius = 10; duration = 109; initialDepth = 1128.653558; finalDepth = 1125.210313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1125.210313 # Seafloor depth:-1175.210313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1178.653558 meters looking forward 0.000000 meters along route # Maximum depth: 1178.653558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.653558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.891916; captureRadius = 10; duration = 109; initialDepth = 1128.112678; finalDepth = 1128.653558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1128.653558 # Seafloor depth:-1178.653558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1178.112678 meters looking forward 0.000000 meters along route # Maximum depth: 1178.112678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.112678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781459; longitude = -121.892620; captureRadius = 10; duration = 109; initialDepth = 1121.605954; finalDepth = 1128.112678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1128.112678 # Seafloor depth:-1178.112678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1171.605954 meters looking forward 0.000000 meters along route # Maximum depth: 1171.605954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.605954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780686; longitude = -121.893233; captureRadius = 10; duration = 109; initialDepth = 1111.904771; finalDepth = 1121.605954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1121.605954 # Seafloor depth:-1171.605954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1161.904771 meters looking forward 0.000000 meters along route # Maximum depth: 1161.904771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.904771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.893892; captureRadius = 10; duration = 109; initialDepth = 1109.520467; finalDepth = 1111.904771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1111.904771 # Seafloor depth:-1161.904771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1159.520467 meters looking forward 0.000000 meters along route # Maximum depth: 1159.520467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.520467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779023; longitude = -121.894554; captureRadius = 10; duration = 109; initialDepth = 1111.597447; finalDepth = 1109.520467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.520467 # Seafloor depth:-1159.520467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1161.597447 meters looking forward 0.000000 meters along route # Maximum depth: 1161.597447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.597447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.895210; captureRadius = 10; duration = 109; initialDepth = 1114.460922; finalDepth = 1111.597447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1111.597447 # Seafloor depth:-1161.597447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.637980 meters # Minimum depth: 1164.460922 meters looking forward 0.000000 meters along route # Maximum depth: 1164.460922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.460922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777283; longitude = -121.895936; captureRadius = 10; duration = 109; initialDepth = 1115.309408; finalDepth = 1114.460922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1114.460922 # Seafloor depth:-1164.460922 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 109.637980 meters # Minimum depth: 1165.309408 meters looking forward 0.000000 meters along route # Maximum depth: 1165.309408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.309408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776355; longitude = -121.896673; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1115.920705; finalDepth = 1115.309408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.309408 # Seafloor depth:-1165.309408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.637980 meters # Minimum depth: 1165.920705 meters looking forward 0.000000 meters along route # Maximum depth: 1165.920705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.920705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.896408; captureRadius = 10; duration = 109; initialDepth = 1115.497314; finalDepth = 1115.920705; 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:1115.920705 # Seafloor depth:-1165.920705 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 109.637980 meters # Minimum depth: 1165.497314 meters looking forward 0.000000 meters along route # Maximum depth: 1165.497314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.497314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774789; longitude = -121.896029; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1116.020217; finalDepth = 1115.497314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.497314 # Seafloor depth:-1165.497314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1166.020217 meters looking forward 0.000000 meters along route # Maximum depth: 1166.020217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.020217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775158; longitude = -121.895735; captureRadius = 10; duration = 109; initialDepth = 1116.583136; finalDepth = 1116.020217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1116.020217 # Seafloor depth:-1166.020217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1166.583136 meters looking forward 0.000000 meters along route # Maximum depth: 1166.583136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.583136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.895074; captureRadius = 10; duration = 109; initialDepth = 1116.952044; finalDepth = 1116.583136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1116.583136 # Seafloor depth:-1166.583136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1166.952044 meters looking forward 0.000000 meters along route # Maximum depth: 1166.952044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.952044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.894412; captureRadius = 10; duration = 109; initialDepth = 1115.373342; finalDepth = 1116.952044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1116.952044 # Seafloor depth:-1166.952044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1165.373342 meters looking forward 0.000000 meters along route # Maximum depth: 1165.373342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.373342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777678; longitude = -121.893725; captureRadius = 10; duration = 109; initialDepth = 1117.465609; finalDepth = 1115.373342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.373342 # Seafloor depth:-1165.373342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1167.465609 meters looking forward 0.000000 meters along route # Maximum depth: 1167.465609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.465609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.893090; captureRadius = 10; duration = 109; initialDepth = 1127.007737; finalDepth = 1117.465609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.465609 # Seafloor depth:-1167.465609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1177.007737 meters looking forward 0.000000 meters along route # Maximum depth: 1177.007737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.007737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779304; longitude = -121.892429; captureRadius = 10; duration = 109; initialDepth = 1128.044471; finalDepth = 1127.007737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1127.007737 # Seafloor depth:-1177.007737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1178.044471 meters looking forward 0.000000 meters along route # Maximum depth: 1178.044471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.044471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780133; longitude = -121.891768; captureRadius = 10; duration = 109; initialDepth = 1127.196301; finalDepth = 1128.044471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1128.044471 # Seafloor depth:-1178.044471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1177.196301 meters looking forward 0.000000 meters along route # Maximum depth: 1177.196301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.196301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.891107; captureRadius = 10; duration = 109; initialDepth = 1127.605743; finalDepth = 1127.196301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1127.196301 # Seafloor depth:-1177.196301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1177.605743 meters looking forward 0.000000 meters along route # Maximum depth: 1177.605743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.605743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781838; longitude = -121.890408; captureRadius = 10; duration = 109; initialDepth = 1125.320911; finalDepth = 1127.605743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1127.605743 # Seafloor depth:-1177.605743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1175.320911 meters looking forward 0.000000 meters along route # Maximum depth: 1175.320911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1125.320911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.889785; captureRadius = 10; duration = 109; initialDepth = 1135.361322; finalDepth = 1125.320911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1125.320911 # Seafloor depth:-1175.320911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1185.361322 meters looking forward 0.000000 meters along route # Maximum depth: 1185.361322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1135.361322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783450; longitude = -121.889123; captureRadius = 10; duration = 109; initialDepth = 1135.622656; finalDepth = 1135.361322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1135.361322 # Seafloor depth:-1185.361322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1185.622656 meters looking forward 0.000000 meters along route # Maximum depth: 1185.622656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1135.622656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.888462; captureRadius = 10; duration = 109; initialDepth = 1131.351094; finalDepth = 1135.622656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1135.622656 # Seafloor depth:-1185.622656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1181.351094 meters looking forward 0.000000 meters along route # Maximum depth: 1181.351094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.351094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.887801; captureRadius = 10; duration = 109; initialDepth = 1122.843416; finalDepth = 1131.351094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1131.351094 # Seafloor depth:-1181.351094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1172.843416 meters looking forward 0.000000 meters along route # Maximum depth: 1172.843416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.843416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785998; longitude = -121.887091; captureRadius = 10; duration = 109; initialDepth = 1116.084666; finalDepth = 1122.843416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1122.843416 # Seafloor depth:-1172.843416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1166.084666 meters looking forward 0.000000 meters along route # Maximum depth: 1166.084666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.084666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.886479; captureRadius = 10; duration = 109; initialDepth = 1119.458554; finalDepth = 1116.084666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1116.084666 # Seafloor depth:-1166.084666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1169.458554 meters looking forward 0.000000 meters along route # Maximum depth: 1169.458554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.458554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787596; longitude = -121.885818; captureRadius = 10; duration = 109; initialDepth = 1116.701394; finalDepth = 1119.458554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1119.458554 # Seafloor depth:-1169.458554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1166.701394 meters looking forward 0.000000 meters along route # Maximum depth: 1166.701394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.701394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788425; longitude = -121.885157; captureRadius = 10; duration = 109; initialDepth = 1116.171001; finalDepth = 1116.701394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1116.701394 # Seafloor depth:-1166.701394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1166.171001 meters looking forward 0.000000 meters along route # Maximum depth: 1166.171001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.171001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789254; longitude = -121.884496; captureRadius = 10; duration = 109; initialDepth = 1115.036630; finalDepth = 1116.171001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1116.171001 # Seafloor depth:-1166.171001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1165.036630 meters looking forward 0.000000 meters along route # Maximum depth: 1165.036630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.036630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.883834; captureRadius = 10; duration = 109; initialDepth = 1129.878699; finalDepth = 1115.036630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.03663 # Seafloor depth:-1165.036630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1179.878699 meters looking forward 0.000000 meters along route # Maximum depth: 1179.878699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1129.878699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790913; longitude = -121.883173; captureRadius = 10; duration = 109; initialDepth = 1141.182151; finalDepth = 1129.878699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1129.878699 # Seafloor depth:-1179.878699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1191.182151 meters looking forward 0.000000 meters along route # Maximum depth: 1191.182151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1141.182151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791742; longitude = -121.882512; captureRadius = 10; duration = 109; initialDepth = 1120.901926; finalDepth = 1141.182151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1141.182151 # Seafloor depth:-1191.182151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1170.901926 meters looking forward 0.000000 meters along route # Maximum depth: 1170.901926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.901926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792585; longitude = -121.881840; captureRadius = 10; duration = 109; initialDepth = 1112.409324; finalDepth = 1120.901926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1120.901926 # Seafloor depth:-1170.901926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1162.409324 meters looking forward 0.000000 meters along route # Maximum depth: 1162.409324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.409324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793400; longitude = -121.881190; captureRadius = 10; duration = 109; initialDepth = 1108.619014; finalDepth = 1112.409324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.409324 # Seafloor depth:-1162.409324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1158.619014 meters looking forward 0.000000 meters along route # Maximum depth: 1158.619014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.619014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794229; longitude = -121.880529; captureRadius = 10; duration = 109; initialDepth = 1108.167859; finalDepth = 1108.619014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.619014 # Seafloor depth:-1158.619014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1158.167859 meters looking forward 0.000000 meters along route # Maximum depth: 1158.167859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.167859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795059; longitude = -121.879868; captureRadius = 10; duration = 109; initialDepth = 1121.520737; finalDepth = 1108.167859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.167859 # Seafloor depth:-1158.167859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1171.520737 meters looking forward 0.000000 meters along route # Maximum depth: 1171.520737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.520737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795888; longitude = -121.879207; captureRadius = 10; duration = 109; initialDepth = 1118.572409; finalDepth = 1121.520737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1121.520737 # Seafloor depth:-1171.520737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1168.572409 meters looking forward 0.000000 meters along route # Maximum depth: 1168.572409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1118.572409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796745; longitude = -121.878523; captureRadius = 10; duration = 109; initialDepth = 1111.101703; finalDepth = 1118.572409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1118.572409 # Seafloor depth:-1168.572409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1161.101703 meters looking forward 0.000000 meters along route # Maximum depth: 1161.101703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.101703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797546; longitude = -121.877884; captureRadius = 10; duration = 109; initialDepth = 1114.623865; finalDepth = 1111.101703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1111.101703 # Seafloor depth:-1161.101703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1164.623865 meters looking forward 0.000000 meters along route # Maximum depth: 1164.623865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.623865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798376; longitude = -121.877223; captureRadius = 10; duration = 109; initialDepth = 1118.862793; finalDepth = 1114.623865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1114.623865 # Seafloor depth:-1164.623865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1168.862793 meters looking forward 0.000000 meters along route # Maximum depth: 1168.862793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1118.862793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799205; longitude = -121.876562; captureRadius = 10; duration = 109; initialDepth = 1121.648970; finalDepth = 1118.862793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1118.862793 # Seafloor depth:-1168.862793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1171.648970 meters looking forward 0.000000 meters along route # Maximum depth: 1171.648970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.648970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800034; longitude = -121.875901; captureRadius = 10; duration = 109; initialDepth = 1117.815367; finalDepth = 1121.648970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1121.64897 # Seafloor depth:-1171.648970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1167.815367 meters looking forward 0.000000 meters along route # Maximum depth: 1167.815367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.815367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800906; longitude = -121.875206; captureRadius = 10; duration = 109; initialDepth = 1114.439022; finalDepth = 1117.815367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.815367 # Seafloor depth:-1167.815367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1164.439022 meters looking forward 0.000000 meters along route # Maximum depth: 1164.439022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.439022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801692; longitude = -121.874579; captureRadius = 10; duration = 109; initialDepth = 1112.491671; finalDepth = 1114.439022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1114.439022 # Seafloor depth:-1164.439022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1162.491671 meters looking forward 0.000000 meters along route # Maximum depth: 1162.491671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.491671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802522; longitude = -121.873918; captureRadius = 10; duration = 109; initialDepth = 1107.092395; finalDepth = 1112.491671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.491671 # Seafloor depth:-1162.491671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1157.092395 meters looking forward 0.000000 meters along route # Maximum depth: 1157.092395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.092395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803351; longitude = -121.873257; captureRadius = 10; duration = 109; initialDepth = 1105.081108; finalDepth = 1107.092395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.092395 # Seafloor depth:-1157.092395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.637980 meters # Minimum depth: 1155.081108 meters looking forward 0.000000 meters along route # Maximum depth: 1155.081108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.081108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804372; longitude = -121.872442; captureRadius = 10; duration = 109; initialDepth = 1103.395416; finalDepth = 1105.081108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1105.081108 # Seafloor depth:-1155.081108 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 109.637980 meters # Minimum depth: 1153.395416 meters looking forward 0.000000 meters along route # Maximum depth: 1153.395416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.395416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805194; longitude = -121.871787; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1103.435567; finalDepth = 1103.395416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.395416 # Seafloor depth:-1153.395416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.637980 meters # Minimum depth: 1153.435567 meters looking forward 0.000000 meters along route # Maximum depth: 1153.435567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.435567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804955; longitude = -121.871336; captureRadius = 10; duration = 109; initialDepth = 1102.381409; finalDepth = 1103.435567; 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:1103.435567 # Seafloor depth:-1153.435567 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 109.637980 meters # Minimum depth: 1152.381409 meters looking forward 0.000000 meters along route # Maximum depth: 1152.381409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.381409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804456; longitude = -121.870396; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1102.383454; finalDepth = 1102.381409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.381409 # Seafloor depth:-1152.381409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1154.315373 meters looking forward 0.000000 meters along route # Maximum depth: 1154.315373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.383454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804456; longitude = -121.870396; captureRadius = 10; duration = 109; initialDepth = 1101.568551; finalDepth = 1102.383454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9319185999993 # Actual altitude: 51.9319185999993 # Commanded vehicle depth:1102.3834544 # Seafloor depth:-1154.315373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.73; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 207.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1151.568551 meters looking forward 0.000000 meters along route # Maximum depth: 1151.568551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.568551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803623; longitude = -121.871060; captureRadius = 10; duration = 109; initialDepth = 1104.498191; finalDepth = 1101.568551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9319185999993 # Actual altitude: 51.9319185999993 # Commanded vehicle depth:1101.568551 # Seafloor depth:-1151.568551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.73; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 207.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1154.498191 meters looking forward 0.000000 meters along route # Maximum depth: 1154.498191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.498191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802798; longitude = -121.871719; captureRadius = 10; duration = 109; initialDepth = 1110.162057; finalDepth = 1104.498191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1104.498191 # Seafloor depth:-1154.498191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1160.162057 meters looking forward 0.000000 meters along route # Maximum depth: 1160.162057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.162057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801969; longitude = -121.872380; captureRadius = 10; duration = 109; initialDepth = 1116.189787; finalDepth = 1110.162057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1110.162057 # Seafloor depth:-1160.162057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1166.189787 meters looking forward 0.000000 meters along route # Maximum depth: 1166.189787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.189787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801140; longitude = -121.873041; captureRadius = 10; duration = 109; initialDepth = 1116.456041; finalDepth = 1116.189787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1116.189787 # Seafloor depth:-1166.189787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1166.456041 meters looking forward 0.000000 meters along route # Maximum depth: 1166.456041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.456041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800310; longitude = -121.873703; captureRadius = 10; duration = 109; initialDepth = 1113.010643; finalDepth = 1116.456041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1116.456041 # Seafloor depth:-1166.456041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1163.010643 meters looking forward 0.000000 meters along route # Maximum depth: 1163.010643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1113.010643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799465; longitude = -121.874377; captureRadius = 10; duration = 109; initialDepth = 1114.529471; finalDepth = 1113.010643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1113.010643 # Seafloor depth:-1163.010643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1164.529471 meters looking forward 0.000000 meters along route # Maximum depth: 1164.529471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.529471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798652; longitude = -121.875026; captureRadius = 10; duration = 109; initialDepth = 1109.556249; finalDepth = 1114.529471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1114.529471 # Seafloor depth:-1164.529471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1159.556249 meters looking forward 0.000000 meters along route # Maximum depth: 1159.556249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.556249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797823; longitude = -121.875687; captureRadius = 10; duration = 109; initialDepth = 1107.371649; finalDepth = 1109.556249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.556249 # Seafloor depth:-1159.556249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1157.371649 meters looking forward 0.000000 meters along route # Maximum depth: 1157.371649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.371649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -121.876349; captureRadius = 10; duration = 109; initialDepth = 1118.205159; finalDepth = 1107.371649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.371649 # Seafloor depth:-1157.371649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1168.205159 meters looking forward 0.000000 meters along route # Maximum depth: 1168.205159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1118.205159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.877010; captureRadius = 10; duration = 109; initialDepth = 1119.145008; finalDepth = 1118.205159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1118.205159 # Seafloor depth:-1168.205159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1169.145008 meters looking forward 0.000000 meters along route # Maximum depth: 1169.145008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.145008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795307; longitude = -121.877694; captureRadius = 10; duration = 109; initialDepth = 1113.615400; finalDepth = 1119.145008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1119.145008 # Seafloor depth:-1169.145008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1163.615400 meters looking forward 0.000000 meters along route # Maximum depth: 1163.615400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1113.615400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.878333; captureRadius = 10; duration = 109; initialDepth = 1107.951063; finalDepth = 1113.615400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1113.6154 # Seafloor depth:-1163.615400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1157.951063 meters looking forward 0.000000 meters along route # Maximum depth: 1157.951063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.951063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.878995; captureRadius = 10; duration = 109; initialDepth = 1112.381570; finalDepth = 1107.951063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.951063 # Seafloor depth:-1157.951063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1162.381570 meters looking forward 0.000000 meters along route # Maximum depth: 1162.381570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.381570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792847; longitude = -121.879656; captureRadius = 10; duration = 109; initialDepth = 1117.901251; finalDepth = 1112.381570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.38157 # Seafloor depth:-1162.381570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1167.901251 meters looking forward 0.000000 meters along route # Maximum depth: 1167.901251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.901251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.880317; captureRadius = 10; duration = 109; initialDepth = 1130.283751; finalDepth = 1117.901251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.901251 # Seafloor depth:-1167.901251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1180.283751 meters looking forward 0.000000 meters along route # Maximum depth: 1180.283751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.283751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791149; longitude = -121.881011; captureRadius = 10; duration = 109; initialDepth = 1120.869590; finalDepth = 1130.283751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1130.283751 # Seafloor depth:-1180.283751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1170.869590 meters looking forward 0.000000 meters along route # Maximum depth: 1170.869590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.869590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790360; longitude = -121.881640; captureRadius = 10; duration = 109; initialDepth = 1110.975131; finalDepth = 1120.869590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1120.86959 # Seafloor depth:-1170.869590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1160.975131 meters looking forward 0.000000 meters along route # Maximum depth: 1160.975131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.975131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.882302; captureRadius = 10; duration = 109; initialDepth = 1115.387965; finalDepth = 1110.975131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1110.975131 # Seafloor depth:-1160.975131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1165.387965 meters looking forward 0.000000 meters along route # Maximum depth: 1165.387965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.387965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.882963; captureRadius = 10; duration = 109; initialDepth = 1115.296202; finalDepth = 1115.387965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.387965 # Seafloor depth:-1165.387965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1165.296202 meters looking forward 0.000000 meters along route # Maximum depth: 1165.296202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.296202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.883625; captureRadius = 10; duration = 109; initialDepth = 1116.076962; finalDepth = 1115.296202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.296202 # Seafloor depth:-1165.296202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1166.076962 meters looking forward 0.000000 meters along route # Maximum depth: 1166.076962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.076962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786991; longitude = -121.884327; captureRadius = 10; duration = 109; initialDepth = 1117.588974; finalDepth = 1116.076962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1116.076962 # Seafloor depth:-1166.076962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1167.588974 meters looking forward 0.000000 meters along route # Maximum depth: 1167.588974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.588974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786214; longitude = -121.884948; captureRadius = 10; duration = 109; initialDepth = 1113.423310; finalDepth = 1117.588974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.588974 # Seafloor depth:-1167.588974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1163.423310 meters looking forward 0.000000 meters along route # Maximum depth: 1163.423310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1113.423310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.885609; captureRadius = 10; duration = 109; initialDepth = 1124.748274; finalDepth = 1113.423310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1113.42331 # Seafloor depth:-1163.423310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1174.748274 meters looking forward 0.000000 meters along route # Maximum depth: 1174.748274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.748274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.886270; captureRadius = 10; duration = 109; initialDepth = 1134.316987; finalDepth = 1124.748274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1124.748274 # Seafloor depth:-1174.748274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1184.316987 meters looking forward 0.000000 meters along route # Maximum depth: 1184.316987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1134.316987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.886932; captureRadius = 10; duration = 109; initialDepth = 1123.912971; finalDepth = 1134.316987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1134.316987 # Seafloor depth:-1184.316987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1173.912971 meters looking forward 0.000000 meters along route # Maximum depth: 1173.912971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1123.912971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782833; longitude = -121.887644; captureRadius = 10; duration = 109; initialDepth = 1118.757434; finalDepth = 1123.912971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1123.912971 # Seafloor depth:-1173.912971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1168.757434 meters looking forward 0.000000 meters along route # Maximum depth: 1168.757434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1118.757434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782068; longitude = -121.888255; captureRadius = 10; duration = 109; initialDepth = 1120.153231; finalDepth = 1118.757434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1118.757434 # Seafloor depth:-1168.757434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1170.153231 meters looking forward 0.000000 meters along route # Maximum depth: 1170.153231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.153231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.888916; captureRadius = 10; duration = 109; initialDepth = 1121.302324; finalDepth = 1120.153231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1120.153231 # Seafloor depth:-1170.153231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1171.302324 meters looking forward 0.000000 meters along route # Maximum depth: 1171.302324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.302324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780408; longitude = -121.889579; captureRadius = 10; duration = 109; initialDepth = 1117.576975; finalDepth = 1121.302324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1121.302324 # Seafloor depth:-1171.302324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1167.576975 meters looking forward 0.000000 meters along route # Maximum depth: 1167.576975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.576975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.890239; captureRadius = 10; duration = 109; initialDepth = 1123.052101; finalDepth = 1117.576975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.576975 # Seafloor depth:-1167.576975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1173.052101 meters looking forward 0.000000 meters along route # Maximum depth: 1173.052101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1123.052101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.890901; captureRadius = 10; duration = 109; initialDepth = 1122.128161; finalDepth = 1123.052101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1123.052101 # Seafloor depth:-1173.052101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1172.128161 meters looking forward 0.000000 meters along route # Maximum depth: 1172.128161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.128161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777922; longitude = -121.891562; captureRadius = 10; duration = 109; initialDepth = 1114.221368; finalDepth = 1122.128161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1122.128161 # Seafloor depth:-1172.128161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1164.221368 meters looking forward 0.000000 meters along route # Maximum depth: 1164.221368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.221368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.892224; captureRadius = 10; duration = 109; initialDepth = 1116.259559; finalDepth = 1114.221368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1114.221368 # Seafloor depth:-1164.221368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1166.259559 meters looking forward 0.000000 meters along route # Maximum depth: 1166.259559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.259559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776250; longitude = -121.892896; captureRadius = 10; duration = 109; initialDepth = 1115.874839; finalDepth = 1116.259559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1116.259559 # Seafloor depth:-1166.259559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1165.874839 meters looking forward 0.000000 meters along route # Maximum depth: 1165.874839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.874839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.893546; captureRadius = 10; duration = 109; initialDepth = 1115.163191; finalDepth = 1115.874839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.874839 # Seafloor depth:-1165.874839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1165.163191 meters looking forward 0.000000 meters along route # Maximum depth: 1165.163191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.163191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.894208; captureRadius = 10; duration = 109; initialDepth = 1115.103863; finalDepth = 1115.163191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.163191 # Seafloor depth:-1165.163191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.637980 meters # Minimum depth: 1165.103863 meters looking forward 0.000000 meters along route # Maximum depth: 1165.103863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.103863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773824; longitude = -121.894831; captureRadius = 10; duration = 109; initialDepth = 1112.977081; finalDepth = 1115.103863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.103863 # Seafloor depth:-1165.103863 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 109.637980 meters # Minimum depth: 1162.977081 meters looking forward 0.000000 meters along route # Maximum depth: 1162.977081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.977081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773039; longitude = -121.895457; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1113.483506; finalDepth = 1112.977081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.977081 # Seafloor depth:-1162.977081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.637980 meters # Minimum depth: 1163.483506 meters looking forward 0.000000 meters along route # Maximum depth: 1163.483506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1113.483506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772854; longitude = -121.895107; captureRadius = 10; duration = 109; initialDepth = 1112.540985; finalDepth = 1113.483506; 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:1113.483506 # Seafloor depth:-1163.483506 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 109.637980 meters # Minimum depth: 1162.540985 meters looking forward 0.000000 meters along route # Maximum depth: 1162.540985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.540985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772302; longitude = -121.894065; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1115.880220; finalDepth = 1112.540985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.540985 # Seafloor depth:-1162.540985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1165.880220 meters looking forward 0.000000 meters along route # Maximum depth: 1165.880220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.880220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.893552; captureRadius = 10; duration = 109; initialDepth = 1114.434410; finalDepth = 1115.880220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.88022 # Seafloor depth:-1165.880220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1164.434410 meters looking forward 0.000000 meters along route # Maximum depth: 1164.434410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.434410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.892890; captureRadius = 10; duration = 109; initialDepth = 1114.280445; finalDepth = 1114.434410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1114.43441 # Seafloor depth:-1164.434410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1164.280445 meters looking forward 0.000000 meters along route # Maximum depth: 1164.280445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.280445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.892229; captureRadius = 10; duration = 109; initialDepth = 1112.131659; finalDepth = 1114.280445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1114.280445 # Seafloor depth:-1164.280445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1162.131659 meters looking forward 0.000000 meters along route # Maximum depth: 1162.131659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.131659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775501; longitude = -121.891514; captureRadius = 10; duration = 109; initialDepth = 1114.110637; finalDepth = 1112.131659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.131659 # Seafloor depth:-1162.131659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1164.110637 meters looking forward 0.000000 meters along route # Maximum depth: 1164.110637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.110637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.890906; captureRadius = 10; duration = 109; initialDepth = 1118.200038; finalDepth = 1114.110637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1114.110637 # Seafloor depth:-1164.110637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1168.200038 meters looking forward 0.000000 meters along route # Maximum depth: 1168.200038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1118.200038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.890244; captureRadius = 10; duration = 109; initialDepth = 1115.792748; finalDepth = 1118.200038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1118.200038 # Seafloor depth:-1168.200038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1165.792748 meters looking forward 0.000000 meters along route # Maximum depth: 1165.792748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.792748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777926; longitude = -121.889579; captureRadius = 10; duration = 109; initialDepth = 1116.668048; finalDepth = 1115.792748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.792748 # Seafloor depth:-1165.792748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1166.668048 meters looking forward 0.000000 meters along route # Maximum depth: 1166.668048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.668048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.888921; captureRadius = 10; duration = 109; initialDepth = 1118.545290; finalDepth = 1116.668048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1116.668048 # Seafloor depth:-1166.668048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1168.545290 meters looking forward 0.000000 meters along route # Maximum depth: 1168.545290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1118.545290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.888260; captureRadius = 10; duration = 109; initialDepth = 1115.599648; finalDepth = 1118.545290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1118.54529 # Seafloor depth:-1168.545290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1165.599648 meters looking forward 0.000000 meters along route # Maximum depth: 1165.599648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.599648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.887598; captureRadius = 10; duration = 109; initialDepth = 1115.613317; finalDepth = 1115.599648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.599648 # Seafloor depth:-1165.599648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1165.613317 meters looking forward 0.000000 meters along route # Maximum depth: 1165.613317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.613317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.886937; captureRadius = 10; duration = 109; initialDepth = 1114.061454; finalDepth = 1115.613317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.613317 # Seafloor depth:-1165.613317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1164.061454 meters looking forward 0.000000 meters along route # Maximum depth: 1164.061454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.061454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782084; longitude = -121.886262; captureRadius = 10; duration = 109; initialDepth = 1127.965647; finalDepth = 1114.061454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1114.061454 # Seafloor depth:-1164.061454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1177.965647 meters looking forward 0.000000 meters along route # Maximum depth: 1177.965647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.965647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.885614; captureRadius = 10; duration = 109; initialDepth = 1128.125959; finalDepth = 1127.965647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1127.965647 # Seafloor depth:-1177.965647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1178.125959 meters looking forward 0.000000 meters along route # Maximum depth: 1178.125959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.125959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.884953; captureRadius = 10; duration = 109; initialDepth = 1114.825375; finalDepth = 1128.125959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1128.125959 # Seafloor depth:-1178.125959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1164.825375 meters looking forward 0.000000 meters along route # Maximum depth: 1164.825375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.825375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.884291; captureRadius = 10; duration = 109; initialDepth = 1112.513646; finalDepth = 1114.825375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1114.825375 # Seafloor depth:-1164.825375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1162.513646 meters looking forward 0.000000 meters along route # Maximum depth: 1162.513646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.513646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.883630; captureRadius = 10; duration = 109; initialDepth = 1113.481305; finalDepth = 1112.513646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.513646 # Seafloor depth:-1162.513646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1163.481305 meters looking forward 0.000000 meters along route # Maximum depth: 1163.481305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1113.481305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786242; longitude = -121.882945; captureRadius = 10; duration = 109; initialDepth = 1111.201007; finalDepth = 1113.481305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1113.481305 # Seafloor depth:-1163.481305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1161.201007 meters looking forward 0.000000 meters along route # Maximum depth: 1161.201007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.201007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.882307; captureRadius = 10; duration = 109; initialDepth = 1109.600315; finalDepth = 1111.201007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1111.201007 # Seafloor depth:-1161.201007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1159.600315 meters looking forward 0.000000 meters along route # Maximum depth: 1159.600315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.600315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.881645; captureRadius = 10; duration = 109; initialDepth = 1108.293434; finalDepth = 1109.600315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.600315 # Seafloor depth:-1159.600315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1158.293434 meters looking forward 0.000000 meters along route # Maximum depth: 1158.293434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.293434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.880984; captureRadius = 10; duration = 109; initialDepth = 1114.840886; finalDepth = 1108.293434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.293434 # Seafloor depth:-1158.293434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1164.840886 meters looking forward 0.000000 meters along route # Maximum depth: 1164.840886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.840886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.880322; captureRadius = 10; duration = 109; initialDepth = 1121.683314; finalDepth = 1114.840886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1114.840886 # Seafloor depth:-1164.840886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1171.683314 meters looking forward 0.000000 meters along route # Maximum depth: 1171.683314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.683314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790400; longitude = -121.879629; captureRadius = 10; duration = 109; initialDepth = 1120.432984; finalDepth = 1121.683314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1121.683314 # Seafloor depth:-1171.683314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1170.432984 meters looking forward 0.000000 meters along route # Maximum depth: 1170.432984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.432984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791189; longitude = -121.878999; captureRadius = 10; duration = 109; initialDepth = 1117.624740; finalDepth = 1120.432984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1120.432984 # Seafloor depth:-1170.432984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1167.624740 meters looking forward 0.000000 meters along route # Maximum depth: 1167.624740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.624740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.878338; captureRadius = 10; duration = 109; initialDepth = 1109.057465; finalDepth = 1117.624740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.62474 # Seafloor depth:-1167.624740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1159.057465 meters looking forward 0.000000 meters along route # Maximum depth: 1159.057465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.057465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792847; longitude = -121.877676; captureRadius = 10; duration = 109; initialDepth = 1104.853382; finalDepth = 1109.057465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.057465 # Seafloor depth:-1159.057465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1154.853382 meters looking forward 0.000000 meters along route # Maximum depth: 1154.853382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.853382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.877015; captureRadius = 10; duration = 109; initialDepth = 1117.989166; finalDepth = 1104.853382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1104.853382 # Seafloor depth:-1154.853382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1167.989166 meters looking forward 0.000000 meters along route # Maximum depth: 1167.989166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.989166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794558; longitude = -121.876312; captureRadius = 10; duration = 109; initialDepth = 1117.693122; finalDepth = 1117.989166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.989166 # Seafloor depth:-1167.989166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1167.693122 meters looking forward 0.000000 meters along route # Maximum depth: 1167.693122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.693122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795335; longitude = -121.875692; captureRadius = 10; duration = 109; initialDepth = 1110.223821; finalDepth = 1117.693122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.693122 # Seafloor depth:-1167.693122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1160.223821 meters looking forward 0.000000 meters along route # Maximum depth: 1160.223821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.223821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.875031; captureRadius = 10; duration = 109; initialDepth = 1107.366755; finalDepth = 1110.223821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1110.223821 # Seafloor depth:-1160.223821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1157.366755 meters looking forward 0.000000 meters along route # Maximum depth: 1157.366755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.366755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -121.874369; captureRadius = 10; duration = 109; initialDepth = 1109.007679; finalDepth = 1107.366755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.366755 # Seafloor depth:-1157.366755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1159.007679 meters looking forward 0.000000 meters along route # Maximum depth: 1159.007679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.007679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797823; longitude = -121.873708; captureRadius = 10; duration = 109; initialDepth = 1107.386157; finalDepth = 1109.007679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.007679 # Seafloor depth:-1159.007679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1157.386157 meters looking forward 0.000000 meters along route # Maximum depth: 1157.386157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.386157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798716; longitude = -121.872995; captureRadius = 10; duration = 109; initialDepth = 1109.959823; finalDepth = 1107.386157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.386157 # Seafloor depth:-1157.386157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1159.959823 meters looking forward 0.000000 meters along route # Maximum depth: 1159.959823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.959823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799481; longitude = -121.872385; captureRadius = 10; duration = 109; initialDepth = 1110.525654; finalDepth = 1109.959823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.959823 # Seafloor depth:-1159.959823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1160.525654 meters looking forward 0.000000 meters along route # Maximum depth: 1160.525654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.525654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800310; longitude = -121.871723; captureRadius = 10; duration = 109; initialDepth = 1105.100719; finalDepth = 1110.525654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1110.525654 # Seafloor depth:-1160.525654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1155.100719 meters looking forward 0.000000 meters along route # Maximum depth: 1155.100719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.100719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801142; longitude = -121.871060; captureRadius = 10; duration = 109; initialDepth = 1104.603959; finalDepth = 1105.100719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1105.100719 # Seafloor depth:-1155.100719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1154.603959 meters looking forward 0.000000 meters along route # Maximum depth: 1154.603959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.603959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801969; longitude = -121.870400; captureRadius = 10; duration = 109; initialDepth = 1106.698516; finalDepth = 1104.603959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1104.603959 # Seafloor depth:-1154.603959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.637980 meters # Minimum depth: 1156.698516 meters looking forward 0.000000 meters along route # Maximum depth: 1156.698516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.698516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802874; longitude = -121.869678; captureRadius = 10; duration = 109; initialDepth = 1100.141296; finalDepth = 1106.698516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.698516 # Seafloor depth:-1156.698516 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 109.637980 meters # Minimum depth: 1150.141296 meters looking forward 0.000000 meters along route # Maximum depth: 1150.141296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.141296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803719; longitude = -121.869004; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1103.248372; finalDepth = 1100.141296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.141296 # Seafloor depth:-1150.141296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.637980 meters # Minimum depth: 1153.248372 meters looking forward 0.000000 meters along route # Maximum depth: 1153.248372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.248372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803491; longitude = -121.868572; captureRadius = 10; duration = 109; initialDepth = 1107.196655; finalDepth = 1103.248372; 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:1103.248372 # Seafloor depth:-1153.248372 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 109.637980 meters # Minimum depth: 1157.196655 meters looking forward 0.000000 meters along route # Maximum depth: 1157.196655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.196655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802982; longitude = -121.867612; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1102.772313; finalDepth = 1107.196655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.196655 # Seafloor depth:-1157.196655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1152.772313 meters looking forward 0.000000 meters along route # Maximum depth: 1152.772313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.772313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802245; longitude = -121.868200; captureRadius = 10; duration = 109; initialDepth = 1106.860840; finalDepth = 1102.772313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.772313 # Seafloor depth:-1152.772313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1156.860840 meters looking forward 0.000000 meters along route # Maximum depth: 1156.860840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.860840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801416; longitude = -121.868862; captureRadius = 10; duration = 109; initialDepth = 1108.015604; finalDepth = 1106.860840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.86084 # Seafloor depth:-1156.860840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1158.015604 meters looking forward 0.000000 meters along route # Maximum depth: 1158.015604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.015604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800587; longitude = -121.869523; captureRadius = 10; duration = 109; initialDepth = 1107.993399; finalDepth = 1108.015604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.015604 # Seafloor depth:-1158.015604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1157.993399 meters looking forward 0.000000 meters along route # Maximum depth: 1157.993399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.993399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799700; longitude = -121.870231; captureRadius = 10; duration = 109; initialDepth = 1104.347261; finalDepth = 1107.993399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.993399 # Seafloor depth:-1157.993399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1154.347261 meters looking forward 0.000000 meters along route # Maximum depth: 1154.347261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.347261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798928; longitude = -121.870846; captureRadius = 10; duration = 109; initialDepth = 1106.838320; finalDepth = 1104.347261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1104.347261 # Seafloor depth:-1154.347261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1156.838320 meters looking forward 0.000000 meters along route # Maximum depth: 1156.838320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.838320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798099; longitude = -121.871508; captureRadius = 10; duration = 109; initialDepth = 1107.913203; finalDepth = 1106.838320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.83832 # Seafloor depth:-1156.838320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1157.913203 meters looking forward 0.000000 meters along route # Maximum depth: 1157.913203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.913203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797270; longitude = -121.872169; captureRadius = 10; duration = 109; initialDepth = 1103.661303; finalDepth = 1107.913203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.913203 # Seafloor depth:-1157.913203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1153.661303 meters looking forward 0.000000 meters along route # Maximum depth: 1153.661303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.661303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796441; longitude = -121.872831; captureRadius = 10; duration = 109; initialDepth = 1106.596055; finalDepth = 1103.661303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.661303 # Seafloor depth:-1153.661303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1156.596055 meters looking forward 0.000000 meters along route # Maximum depth: 1156.596055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.596055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795542; longitude = -121.873548; captureRadius = 10; duration = 109; initialDepth = 1115.064367; finalDepth = 1106.596055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.596055 # Seafloor depth:-1156.596055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1165.064367 meters looking forward 0.000000 meters along route # Maximum depth: 1165.064367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.064367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794782; longitude = -121.874154; captureRadius = 10; duration = 109; initialDepth = 1110.853974; finalDepth = 1115.064367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.064367 # Seafloor depth:-1165.064367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1160.853974 meters looking forward 0.000000 meters along route # Maximum depth: 1160.853974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.853974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793953; longitude = -121.874815; captureRadius = 10; duration = 109; initialDepth = 1101.938395; finalDepth = 1110.853974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1110.853974 # Seafloor depth:-1160.853974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1151.938395 meters looking forward 0.000000 meters along route # Maximum depth: 1151.938395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.938395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793116; longitude = -121.875482; captureRadius = 10; duration = 109; initialDepth = 1110.757605; finalDepth = 1101.938395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.938395 # Seafloor depth:-1151.938395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1160.757605 meters looking forward 0.000000 meters along route # Maximum depth: 1160.757605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.757605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792295; longitude = -121.876138; captureRadius = 10; duration = 109; initialDepth = 1112.932965; finalDepth = 1110.757605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1110.757605 # Seafloor depth:-1160.757605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1162.932965 meters looking forward 0.000000 meters along route # Maximum depth: 1162.932965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.932965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.876799; captureRadius = 10; duration = 109; initialDepth = 1112.328838; finalDepth = 1112.932965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.932965 # Seafloor depth:-1162.932965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1162.328838 meters looking forward 0.000000 meters along route # Maximum depth: 1162.328838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.328838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790636; longitude = -121.877461; captureRadius = 10; duration = 109; initialDepth = 1111.291117; finalDepth = 1112.328838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.328838 # Seafloor depth:-1162.328838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1161.291117 meters looking forward 0.000000 meters along route # Maximum depth: 1161.291117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.291117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.878122; captureRadius = 10; duration = 109; initialDepth = 1109.000973; finalDepth = 1111.291117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1111.291117 # Seafloor depth:-1161.291117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1159.000973 meters looking forward 0.000000 meters along route # Maximum depth: 1159.000973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.000973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788958; longitude = -121.878799; captureRadius = 10; duration = 109; initialDepth = 1105.629124; finalDepth = 1109.000973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.000973 # Seafloor depth:-1159.000973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1155.629124 meters looking forward 0.000000 meters along route # Maximum depth: 1155.629124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.629124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.879445; captureRadius = 10; duration = 109; initialDepth = 1107.541852; finalDepth = 1105.629124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1105.629124 # Seafloor depth:-1155.629124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1157.541852 meters looking forward 0.000000 meters along route # Maximum depth: 1157.541852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.541852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.880107; captureRadius = 10; duration = 109; initialDepth = 1106.201608; finalDepth = 1107.541852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.541852 # Seafloor depth:-1157.541852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1156.201608 meters looking forward 0.000000 meters along route # Maximum depth: 1156.201608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.201608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.880768; captureRadius = 10; duration = 109; initialDepth = 1107.826301; finalDepth = 1106.201608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.201608 # Seafloor depth:-1156.201608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1157.826301 meters looking forward 0.000000 meters along route # Maximum depth: 1157.826301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.826301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.881430; captureRadius = 10; duration = 109; initialDepth = 1106.613392; finalDepth = 1107.826301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.826301 # Seafloor depth:-1157.826301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1156.613392 meters looking forward 0.000000 meters along route # Maximum depth: 1156.613392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.613392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784800; longitude = -121.882116; captureRadius = 10; duration = 109; initialDepth = 1107.105511; finalDepth = 1106.613392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.613392 # Seafloor depth:-1156.613392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1157.105511 meters looking forward 0.000000 meters along route # Maximum depth: 1157.105511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.105511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.882753; captureRadius = 10; duration = 109; initialDepth = 1127.074472; finalDepth = 1107.105511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.105511 # Seafloor depth:-1157.105511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1177.074472 meters looking forward 0.000000 meters along route # Maximum depth: 1177.074472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.074472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.883414; captureRadius = 10; duration = 109; initialDepth = 1117.889364; finalDepth = 1127.074472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1127.074472 # Seafloor depth:-1177.074472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1167.889364 meters looking forward 0.000000 meters along route # Maximum depth: 1167.889364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.889364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.884076; captureRadius = 10; duration = 109; initialDepth = 1107.597071; finalDepth = 1117.889364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.889364 # Seafloor depth:-1167.889364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1157.597071 meters looking forward 0.000000 meters along route # Maximum depth: 1157.597071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.597071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.884737; captureRadius = 10; duration = 109; initialDepth = 1108.917744; finalDepth = 1107.597071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.597071 # Seafloor depth:-1157.597071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1158.917744 meters looking forward 0.000000 meters along route # Maximum depth: 1158.917744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.917744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780643; longitude = -121.885433; captureRadius = 10; duration = 109; initialDepth = 1110.067139; finalDepth = 1108.917744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.917744 # Seafloor depth:-1158.917744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1160.067139 meters looking forward 0.000000 meters along route # Maximum depth: 1160.067139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.067139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.886060; captureRadius = 10; duration = 109; initialDepth = 1111.624825; finalDepth = 1110.067139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1110.067139 # Seafloor depth:-1160.067139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1161.624825 meters looking forward 0.000000 meters along route # Maximum depth: 1161.624825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.624825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779027; longitude = -121.886722; captureRadius = 10; duration = 109; initialDepth = 1109.394743; finalDepth = 1111.624825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1111.624825 # Seafloor depth:-1161.624825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1159.394743 meters looking forward 0.000000 meters along route # Maximum depth: 1159.394743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.394743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.887383; captureRadius = 10; duration = 109; initialDepth = 1110.807001; finalDepth = 1109.394743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.394743 # Seafloor depth:-1159.394743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1160.807001 meters looking forward 0.000000 meters along route # Maximum depth: 1160.807001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.807001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.888045; captureRadius = 10; duration = 109; initialDepth = 1118.019498; finalDepth = 1110.807001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1110.807001 # Seafloor depth:-1160.807001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1168.019498 meters looking forward 0.000000 meters along route # Maximum depth: 1168.019498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1118.019498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776485; longitude = -121.888750; captureRadius = 10; duration = 109; initialDepth = 1112.532620; finalDepth = 1118.019498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1118.019498 # Seafloor depth:-1168.019498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1162.532620 meters looking forward 0.000000 meters along route # Maximum depth: 1162.532620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.532620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.889368; captureRadius = 10; duration = 109; initialDepth = 1108.045344; finalDepth = 1112.532620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.53262 # Seafloor depth:-1162.532620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1158.045344 meters looking forward 0.000000 meters along route # Maximum depth: 1158.045344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.045344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.890029; captureRadius = 10; duration = 109; initialDepth = 1109.551215; finalDepth = 1108.045344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.045344 # Seafloor depth:-1158.045344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1159.551215 meters looking forward 0.000000 meters along route # Maximum depth: 1159.551215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.551215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.890691; captureRadius = 10; duration = 109; initialDepth = 1108.772482; finalDepth = 1109.551215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.551215 # Seafloor depth:-1159.551215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1158.772482 meters looking forward 0.000000 meters along route # Maximum depth: 1158.772482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.772482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.891352; captureRadius = 10; duration = 109; initialDepth = 1108.737573; finalDepth = 1108.772482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.772482 # Seafloor depth:-1158.772482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.637980 meters # Minimum depth: 1158.737573 meters looking forward 0.000000 meters along route # Maximum depth: 1158.737573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.737573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772327; longitude = -121.892067; captureRadius = 10; duration = 109; initialDepth = 1106.442108; finalDepth = 1108.737573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.737573 # Seafloor depth:-1158.737573 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 109.637980 meters # Minimum depth: 1156.442108 meters looking forward 0.000000 meters along route # Maximum depth: 1156.442108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.442108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771566; longitude = -121.892674; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1105.526441; finalDepth = 1106.442108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.442108 # Seafloor depth:-1156.442108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.637980 meters # Minimum depth: 1155.526441 meters looking forward 0.000000 meters along route # Maximum depth: 1155.526441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.526441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771390; longitude = -121.892343; captureRadius = 10; duration = 109; initialDepth = 1102.876892; finalDepth = 1105.526441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1105.526441 # Seafloor depth:-1155.526441 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 109.637980 meters # Minimum depth: 1152.876892 meters looking forward 0.000000 meters along route # Maximum depth: 1152.876892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.876892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770829; longitude = -121.891283; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1102.483028; finalDepth = 1102.876892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.876892 # Seafloor depth:-1152.876892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1152.483028 meters looking forward 0.000000 meters along route # Maximum depth: 1152.483028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.483028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771578; longitude = -121.890685; captureRadius = 10; duration = 109; initialDepth = 1103.866834; finalDepth = 1102.483028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.483028 # Seafloor depth:-1152.483028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1153.866834 meters looking forward 0.000000 meters along route # Maximum depth: 1153.866834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.866834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772394; longitude = -121.890034; captureRadius = 10; duration = 109; initialDepth = 1102.771717; finalDepth = 1103.866834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.866834 # Seafloor depth:-1153.866834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1152.771717 meters looking forward 0.000000 meters along route # Maximum depth: 1152.771717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.771717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.889373; captureRadius = 10; duration = 109; initialDepth = 1103.248899; finalDepth = 1102.771717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.771717 # Seafloor depth:-1152.771717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1153.248899 meters looking forward 0.000000 meters along route # Maximum depth: 1153.248899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.248899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.888711; captureRadius = 10; duration = 109; initialDepth = 1111.751521; finalDepth = 1103.248899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.248899 # Seafloor depth:-1153.248899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1161.751521 meters looking forward 0.000000 meters along route # Maximum depth: 1161.751521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.751521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.888050; captureRadius = 10; duration = 109; initialDepth = 1114.347701; finalDepth = 1111.751521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1111.751521 # Seafloor depth:-1161.751521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1164.347701 meters looking forward 0.000000 meters along route # Maximum depth: 1164.347701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.347701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775736; longitude = -121.887368; captureRadius = 10; duration = 109; initialDepth = 1104.680029; finalDepth = 1114.347701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1114.347701 # Seafloor depth:-1164.347701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1154.680029 meters looking forward 0.000000 meters along route # Maximum depth: 1154.680029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.680029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776540; longitude = -121.886727; captureRadius = 10; duration = 109; initialDepth = 1103.184335; finalDepth = 1104.680029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1104.680029 # Seafloor depth:-1154.680029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1153.184335 meters looking forward 0.000000 meters along route # Maximum depth: 1153.184335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.184335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.886065; captureRadius = 10; duration = 109; initialDepth = 1105.980128; finalDepth = 1103.184335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.184335 # Seafloor depth:-1153.184335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1155.980128 meters looking forward 0.000000 meters along route # Maximum depth: 1155.980128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.980128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.885404; captureRadius = 10; duration = 109; initialDepth = 1107.442487; finalDepth = 1105.980128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1105.980128 # Seafloor depth:-1155.980128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1157.442487 meters looking forward 0.000000 meters along route # Maximum depth: 1157.442487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.442487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779027; longitude = -121.884742; captureRadius = 10; duration = 109; initialDepth = 1104.800129; finalDepth = 1107.442487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.442487 # Seafloor depth:-1157.442487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1154.800129 meters looking forward 0.000000 meters along route # Maximum depth: 1154.800129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.800129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779894; longitude = -121.884051; captureRadius = 10; duration = 109; initialDepth = 1104.055717; finalDepth = 1104.800129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1104.800129 # Seafloor depth:-1154.800129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1154.055717 meters looking forward 0.000000 meters along route # Maximum depth: 1154.055717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.055717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780686; longitude = -121.883419; captureRadius = 10; duration = 109; initialDepth = 1106.599801; finalDepth = 1104.055717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1104.055717 # Seafloor depth:-1154.055717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1156.599801 meters looking forward 0.000000 meters along route # Maximum depth: 1156.599801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.599801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.882758; captureRadius = 10; duration = 109; initialDepth = 1128.963414; finalDepth = 1106.599801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.599801 # Seafloor depth:-1156.599801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1178.963414 meters looking forward 0.000000 meters along route # Maximum depth: 1178.963414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.963414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.882096; captureRadius = 10; duration = 109; initialDepth = 1110.832149; finalDepth = 1128.963414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1128.963414 # Seafloor depth:-1178.963414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1160.832149 meters looking forward 0.000000 meters along route # Maximum depth: 1160.832149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.832149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.881435; captureRadius = 10; duration = 109; initialDepth = 1101.886692; finalDepth = 1110.832149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1110.832149 # Seafloor depth:-1160.832149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1151.886692 meters looking forward 0.000000 meters along route # Maximum depth: 1151.886692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.886692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784052; longitude = -121.880734; captureRadius = 10; duration = 109; initialDepth = 1102.601787; finalDepth = 1101.886692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.886692 # Seafloor depth:-1151.886692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1152.601787 meters looking forward 0.000000 meters along route # Maximum depth: 1152.601787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.601787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.880112; captureRadius = 10; duration = 109; initialDepth = 1102.038685; finalDepth = 1102.601787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.601787 # Seafloor depth:-1152.601787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1152.038685 meters looking forward 0.000000 meters along route # Maximum depth: 1152.038685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.038685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.879450; captureRadius = 10; duration = 109; initialDepth = 1101.840597; finalDepth = 1102.038685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.038685 # Seafloor depth:-1152.038685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1151.840597 meters looking forward 0.000000 meters along route # Maximum depth: 1151.840597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.840597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.878789; captureRadius = 10; duration = 109; initialDepth = 1101.560517; finalDepth = 1101.840597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.840597 # Seafloor depth:-1151.840597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1151.560517 meters looking forward 0.000000 meters along route # Maximum depth: 1151.560517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.560517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.878127; captureRadius = 10; duration = 109; initialDepth = 1107.615428; finalDepth = 1101.560517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.560517 # Seafloor depth:-1151.560517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1157.615428 meters looking forward 0.000000 meters along route # Maximum depth: 1157.615428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.615428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788209; longitude = -121.877417; captureRadius = 10; duration = 109; initialDepth = 1109.469298; finalDepth = 1107.615428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.615428 # Seafloor depth:-1157.615428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1159.469298 meters looking forward 0.000000 meters along route # Maximum depth: 1159.469298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.469298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.876804; captureRadius = 10; duration = 109; initialDepth = 1108.385920; finalDepth = 1109.469298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.469298 # Seafloor depth:-1159.469298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1158.385920 meters looking forward 0.000000 meters along route # Maximum depth: 1158.385920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.385920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.876143; captureRadius = 10; duration = 109; initialDepth = 1109.456221; finalDepth = 1108.385920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.38592 # Seafloor depth:-1158.385920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1159.456221 meters looking forward 0.000000 meters along route # Maximum depth: 1159.456221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.456221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790636; longitude = -121.875481; captureRadius = 10; duration = 109; initialDepth = 1106.838589; finalDepth = 1109.456221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.456221 # Seafloor depth:-1159.456221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1156.838589 meters looking forward 0.000000 meters along route # Maximum depth: 1156.838589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.838589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.874820; captureRadius = 10; duration = 109; initialDepth = 1103.102231; finalDepth = 1106.838589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.838589 # Seafloor depth:-1156.838589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1153.102231 meters looking forward 0.000000 meters along route # Maximum depth: 1153.102231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.102231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792367; longitude = -121.874100; captureRadius = 10; duration = 109; initialDepth = 1106.357014; finalDepth = 1103.102231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.102231 # Seafloor depth:-1153.102231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1156.357014 meters looking forward 0.000000 meters along route # Maximum depth: 1156.357014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.357014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793124; longitude = -121.873497; captureRadius = 10; duration = 109; initialDepth = 1112.085906; finalDepth = 1106.357014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.357014 # Seafloor depth:-1156.357014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1162.085906 meters looking forward 0.000000 meters along route # Maximum depth: 1162.085906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.085906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793953; longitude = -121.872835; captureRadius = 10; duration = 109; initialDepth = 1110.459828; finalDepth = 1112.085906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.085906 # Seafloor depth:-1162.085906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1160.459828 meters looking forward 0.000000 meters along route # Maximum depth: 1160.459828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.459828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794793; longitude = -121.872166; captureRadius = 10; duration = 109; initialDepth = 1102.189447; finalDepth = 1110.459828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1110.459828 # Seafloor depth:-1160.459828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1152.189447 meters looking forward 0.000000 meters along route # Maximum depth: 1152.189447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.189447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795611; longitude = -121.871512; captureRadius = 10; duration = 109; initialDepth = 1101.854894; finalDepth = 1102.189447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.189447 # Seafloor depth:-1152.189447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1151.854894 meters looking forward 0.000000 meters along route # Maximum depth: 1151.854894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.854894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796441; longitude = -121.870851; captureRadius = 10; duration = 109; initialDepth = 1103.697787; finalDepth = 1101.854894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.854894 # Seafloor depth:-1151.854894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1153.697787 meters looking forward 0.000000 meters along route # Maximum depth: 1153.697787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.697787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797270; longitude = -121.870189; captureRadius = 10; duration = 109; initialDepth = 1101.940126; finalDepth = 1103.697787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.697787 # Seafloor depth:-1153.697787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1151.940126 meters looking forward 0.000000 meters along route # Maximum depth: 1151.940126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.940126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798099; longitude = -121.869528; captureRadius = 10; duration = 109; initialDepth = 1103.220237; finalDepth = 1101.940126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.940126 # Seafloor depth:-1151.940126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1153.220237 meters looking forward 0.000000 meters along route # Maximum depth: 1153.220237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.220237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798950; longitude = -121.868849; captureRadius = 10; duration = 109; initialDepth = 1109.352217; finalDepth = 1103.220237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.220237 # Seafloor depth:-1153.220237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1159.352217 meters looking forward 0.000000 meters along route # Maximum depth: 1159.352217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.352217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799758; longitude = -121.868205; captureRadius = 10; duration = 109; initialDepth = 1101.187444; finalDepth = 1109.352217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.352217 # Seafloor depth:-1159.352217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1151.187444 meters looking forward 0.000000 meters along route # Maximum depth: 1151.187444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.187444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800587; longitude = -121.867543; captureRadius = 10; duration = 109; initialDepth = 1106.071798; finalDepth = 1101.187444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.187444 # Seafloor depth:-1151.187444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.637980 meters # Minimum depth: 1156.071798 meters looking forward 0.000000 meters along route # Maximum depth: 1156.071798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.071798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801416; longitude = -121.866882; captureRadius = 10; duration = 109; initialDepth = 1100.369446; finalDepth = 1106.071798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.071798 # Seafloor depth:-1156.071798 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 109.637980 meters # Minimum depth: 1150.369446 meters looking forward 0.000000 meters along route # Maximum depth: 1150.369446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.369446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802245; longitude = -121.866220; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1100.713808; finalDepth = 1100.369446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.369446 # Seafloor depth:-1150.369446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.637980 meters # Minimum depth: 1150.713808 meters looking forward 0.000000 meters along route # Maximum depth: 1150.713808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.713808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802027; longitude = -121.865808; captureRadius = 10; duration = 109; initialDepth = 1096.733276; finalDepth = 1100.713808; 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:1100.713808 # Seafloor depth:-1150.713808 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 109.637980 meters # Minimum depth: 1146.733276 meters looking forward 0.000000 meters along route # Maximum depth: 1146.733276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.733276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801508; longitude = -121.864829; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1100.538070; finalDepth = 1096.733276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.733276 # Seafloor depth:-1146.733276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1150.538070 meters looking forward 0.000000 meters along route # Maximum depth: 1150.538070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.538070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800863; longitude = -121.865343; captureRadius = 10; duration = 109; initialDepth = 1103.615130; finalDepth = 1100.538070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.53807 # Seafloor depth:-1150.538070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1153.615130 meters looking forward 0.000000 meters along route # Maximum depth: 1153.615130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.615130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800034; longitude = -121.866005; captureRadius = 10; duration = 109; initialDepth = 1105.540120; finalDepth = 1103.615130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.61513 # Seafloor depth:-1153.615130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1155.540120 meters looking forward 0.000000 meters along route # Maximum depth: 1155.540120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.540120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799205; longitude = -121.866666; captureRadius = 10; duration = 109; initialDepth = 1100.660201; finalDepth = 1105.540120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1105.54012 # Seafloor depth:-1155.540120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1150.660201 meters looking forward 0.000000 meters along route # Maximum depth: 1150.660201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.660201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798376; longitude = -121.867328; captureRadius = 10; duration = 109; initialDepth = 1101.829898; finalDepth = 1100.660201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.660201 # Seafloor depth:-1150.660201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1151.829898 meters looking forward 0.000000 meters along route # Maximum depth: 1151.829898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.829898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797508; longitude = -121.868020; captureRadius = 10; duration = 109; initialDepth = 1100.474639; finalDepth = 1101.829898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.829898 # Seafloor depth:-1151.829898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1150.474639 meters looking forward 0.000000 meters along route # Maximum depth: 1150.474639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.474639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796717; longitude = -121.868651; captureRadius = 10; duration = 109; initialDepth = 1097.444085; finalDepth = 1100.474639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.474639 # Seafloor depth:-1150.474639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1147.444085 meters looking forward 0.000000 meters along route # Maximum depth: 1147.444085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.444085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795888; longitude = -121.869312; captureRadius = 10; duration = 109; initialDepth = 1098.116501; finalDepth = 1097.444085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.444085 # Seafloor depth:-1147.444085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1148.116501 meters looking forward 0.000000 meters along route # Maximum depth: 1148.116501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.116501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795059; longitude = -121.869974; captureRadius = 10; duration = 109; initialDepth = 1104.430309; finalDepth = 1098.116501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.116501 # Seafloor depth:-1148.116501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1154.430309 meters looking forward 0.000000 meters along route # Maximum depth: 1154.430309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.430309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794229; longitude = -121.870635; captureRadius = 10; duration = 109; initialDepth = 1106.288295; finalDepth = 1104.430309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1104.430309 # Seafloor depth:-1154.430309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1156.288295 meters looking forward 0.000000 meters along route # Maximum depth: 1156.288295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.288295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793351; longitude = -121.871336; captureRadius = 10; duration = 109; initialDepth = 1098.320616; finalDepth = 1106.288295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.288295 # Seafloor depth:-1156.288295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1148.320616 meters looking forward 0.000000 meters along route # Maximum depth: 1148.320616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.320616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792571; longitude = -121.871958; captureRadius = 10; duration = 109; initialDepth = 1103.759654; finalDepth = 1098.320616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.320616 # Seafloor depth:-1148.320616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1153.759654 meters looking forward 0.000000 meters along route # Maximum depth: 1153.759654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.759654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791742; longitude = -121.872620; captureRadius = 10; duration = 109; initialDepth = 1106.081797; finalDepth = 1103.759654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.759654 # Seafloor depth:-1153.759654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1156.081797 meters looking forward 0.000000 meters along route # Maximum depth: 1156.081797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.081797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790913; longitude = -121.873281; captureRadius = 10; duration = 109; initialDepth = 1106.461760; finalDepth = 1106.081797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.081797 # Seafloor depth:-1156.081797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1156.461760 meters looking forward 0.000000 meters along route # Maximum depth: 1156.461760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.461760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.873943; captureRadius = 10; duration = 109; initialDepth = 1097.935223; finalDepth = 1106.461760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.46176 # Seafloor depth:-1156.461760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1147.935223 meters looking forward 0.000000 meters along route # Maximum depth: 1147.935223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.935223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789193; longitude = -121.874653; captureRadius = 10; duration = 109; initialDepth = 1103.327844; finalDepth = 1097.935223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.935223 # Seafloor depth:-1147.935223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1153.327844 meters looking forward 0.000000 meters along route # Maximum depth: 1153.327844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.327844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788425; longitude = -121.875266; captureRadius = 10; duration = 109; initialDepth = 1102.391025; finalDepth = 1103.327844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.327844 # Seafloor depth:-1153.327844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1152.391025 meters looking forward 0.000000 meters along route # Maximum depth: 1152.391025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.391025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787596; longitude = -121.875927; captureRadius = 10; duration = 109; initialDepth = 1098.169280; finalDepth = 1102.391025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.391025 # Seafloor depth:-1152.391025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1148.169280 meters looking forward 0.000000 meters along route # Maximum depth: 1148.169280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.169280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.876589; captureRadius = 10; duration = 109; initialDepth = 1099.989805; finalDepth = 1098.169280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.16928 # Seafloor depth:-1148.169280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1149.989805 meters looking forward 0.000000 meters along route # Maximum depth: 1149.989805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.989805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.877250; captureRadius = 10; duration = 109; initialDepth = 1098.631514; finalDepth = 1099.989805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1099.989805 # Seafloor depth:-1149.989805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1148.631514 meters looking forward 0.000000 meters along route # Maximum depth: 1148.631514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.631514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785035; longitude = -121.877970; captureRadius = 10; duration = 109; initialDepth = 1096.727956; finalDepth = 1098.631514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.631514 # Seafloor depth:-1148.631514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1146.727956 meters looking forward 0.000000 meters along route # Maximum depth: 1146.727956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.727956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.878573; captureRadius = 10; duration = 109; initialDepth = 1098.159696; finalDepth = 1096.727956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.727956 # Seafloor depth:-1146.727956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1148.159696 meters looking forward 0.000000 meters along route # Maximum depth: 1148.159696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.159696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783450; longitude = -121.879235; captureRadius = 10; duration = 109; initialDepth = 1115.886460; finalDepth = 1098.159696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.159696 # Seafloor depth:-1148.159696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1165.886460 meters looking forward 0.000000 meters along route # Maximum depth: 1165.886460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.886460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782610; longitude = -121.879905; captureRadius = 10; duration = 109; initialDepth = 1119.059372; finalDepth = 1115.886460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.88646 # Seafloor depth:-1165.886460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1169.059372 meters looking forward 0.000000 meters along route # Maximum depth: 1169.059372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.059372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.880558; captureRadius = 10; duration = 109; initialDepth = 1101.209612; finalDepth = 1119.059372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1119.059372 # Seafloor depth:-1169.059372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1151.209612 meters looking forward 0.000000 meters along route # Maximum depth: 1151.209612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.209612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.881220; captureRadius = 10; duration = 109; initialDepth = 1097.919331; finalDepth = 1101.209612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.209612 # Seafloor depth:-1151.209612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1147.919331 meters looking forward 0.000000 meters along route # Maximum depth: 1147.919331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.919331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780133; longitude = -121.881881; captureRadius = 10; duration = 109; initialDepth = 1099.696699; finalDepth = 1097.919331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.919331 # Seafloor depth:-1147.919331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1149.696699 meters looking forward 0.000000 meters along route # Maximum depth: 1149.696699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.696699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779304; longitude = -121.882543; captureRadius = 10; duration = 109; initialDepth = 1099.757849; finalDepth = 1099.696699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1099.696699 # Seafloor depth:-1149.696699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1149.757849 meters looking forward 0.000000 meters along route # Maximum depth: 1149.757849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.757849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778452; longitude = -121.883222; captureRadius = 10; duration = 109; initialDepth = 1102.463363; finalDepth = 1099.757849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1099.757849 # Seafloor depth:-1149.757849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1152.463363 meters looking forward 0.000000 meters along route # Maximum depth: 1152.463363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.463363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.883866; captureRadius = 10; duration = 109; initialDepth = 1100.640551; finalDepth = 1102.463363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.463363 # Seafloor depth:-1152.463363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1150.640551 meters looking forward 0.000000 meters along route # Maximum depth: 1150.640551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.640551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.884527; captureRadius = 10; duration = 109; initialDepth = 1099.494977; finalDepth = 1100.640551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.640551 # Seafloor depth:-1150.640551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1149.494977 meters looking forward 0.000000 meters along route # Maximum depth: 1149.494977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.494977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.885189; captureRadius = 10; duration = 109; initialDepth = 1107.240258; finalDepth = 1099.494977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1099.494977 # Seafloor depth:-1149.494977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1157.240258 meters looking forward 0.000000 meters along route # Maximum depth: 1157.240258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.240258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775158; longitude = -121.885850; captureRadius = 10; duration = 109; initialDepth = 1107.383107; finalDepth = 1107.240258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.240258 # Seafloor depth:-1157.240258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1157.383107 meters looking forward 0.000000 meters along route # Maximum depth: 1157.383107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.383107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774294; longitude = -121.886539; captureRadius = 10; duration = 109; initialDepth = 1100.819758; finalDepth = 1107.383107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.383107 # Seafloor depth:-1157.383107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1150.819758 meters looking forward 0.000000 meters along route # Maximum depth: 1150.819758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.819758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.887173; captureRadius = 10; duration = 109; initialDepth = 1099.039088; finalDepth = 1100.819758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.819758 # Seafloor depth:-1150.819758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1149.039088 meters looking forward 0.000000 meters along route # Maximum depth: 1149.039088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.039088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.887835; captureRadius = 10; duration = 109; initialDepth = 1100.711658; finalDepth = 1099.039088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1099.039088 # Seafloor depth:-1149.039088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1150.711658 meters looking forward 0.000000 meters along route # Maximum depth: 1150.711658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.711658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771841; longitude = -121.888496; captureRadius = 10; duration = 109; initialDepth = 1100.496737; finalDepth = 1100.711658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.711658 # Seafloor depth:-1150.711658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.637980 meters # Minimum depth: 1150.496737 meters looking forward 0.000000 meters along route # Maximum depth: 1150.496737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.496737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771012; longitude = -121.889158; captureRadius = 10; duration = 109; initialDepth = 1101.409393; finalDepth = 1100.496737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.496737 # Seafloor depth:-1150.496737 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 109.637980 meters # Minimum depth: 1151.409393 meters looking forward 0.000000 meters along route # Maximum depth: 1151.409393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.409393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770092; longitude = -121.889891; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1102.200916; finalDepth = 1101.409393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.409393 # Seafloor depth:-1151.409393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 109.637980 meters # Minimum depth: 1152.200916 meters looking forward 0.000000 meters along route # Maximum depth: 1152.200916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.200916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.889540; captureRadius = 10; duration = 109; initialDepth = 1102.160919; finalDepth = 1102.200916; 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:1102.200916 # Seafloor depth:-1152.200916 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 109.637980 meters # Minimum depth: 1152.160919 meters looking forward 0.000000 meters along route # Maximum depth: 1152.160919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.160919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769355; longitude = -121.888500; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1104.159562; finalDepth = 1102.160919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.160919 # Seafloor depth:-1152.160919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1154.159562 meters looking forward 0.000000 meters along route # Maximum depth: 1154.159562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.159562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.888060; captureRadius = 10; duration = 109; initialDepth = 1100.276710; finalDepth = 1104.159562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1104.159562 # Seafloor depth:-1154.159562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1150.276710 meters looking forward 0.000000 meters along route # Maximum depth: 1150.276710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.276710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770774; longitude = -121.887368; captureRadius = 10; duration = 109; initialDepth = 1101.684861; finalDepth = 1100.276710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.27671 # Seafloor depth:-1150.276710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1151.684861 meters looking forward 0.000000 meters along route # Maximum depth: 1151.684861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.684861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.886737; captureRadius = 10; duration = 109; initialDepth = 1095.970900; finalDepth = 1101.684861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.684861 # Seafloor depth:-1151.684861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1145.970900 meters looking forward 0.000000 meters along route # Maximum depth: 1145.970900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.970900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772394; longitude = -121.886076; captureRadius = 10; duration = 109; initialDepth = 1101.090680; finalDepth = 1095.970900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.9709 # Seafloor depth:-1145.970900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1151.090680 meters looking forward 0.000000 meters along route # Maximum depth: 1151.090680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.090680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.885414; captureRadius = 10; duration = 109; initialDepth = 1107.649831; finalDepth = 1101.090680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.09068 # Seafloor depth:-1151.090680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1157.649831 meters looking forward 0.000000 meters along route # Maximum depth: 1157.649831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.649831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.884753; captureRadius = 10; duration = 109; initialDepth = 1098.278625; finalDepth = 1107.649831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.649831 # Seafloor depth:-1157.649831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1148.278625 meters looking forward 0.000000 meters along route # Maximum depth: 1148.278625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.278625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774932; longitude = -121.884051; captureRadius = 10; duration = 109; initialDepth = 1092.346186; finalDepth = 1098.278625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.278625 # Seafloor depth:-1148.278625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1142.346186 meters looking forward 0.000000 meters along route # Maximum depth: 1142.346186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.346186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.883430; captureRadius = 10; duration = 109; initialDepth = 1094.156128; finalDepth = 1092.346186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.346186 # Seafloor depth:-1142.346186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1144.156128 meters looking forward 0.000000 meters along route # Maximum depth: 1144.156128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.156128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776540; longitude = -121.882768; captureRadius = 10; duration = 109; initialDepth = 1094.427068; finalDepth = 1094.156128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.156128 # Seafloor depth:-1144.156128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1144.427068 meters looking forward 0.000000 meters along route # Maximum depth: 1144.427068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.427068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.882107; captureRadius = 10; duration = 109; initialDepth = 1094.130192; finalDepth = 1094.427068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.427068 # Seafloor depth:-1144.427068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1144.130192 meters looking forward 0.000000 meters along route # Maximum depth: 1144.130192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.130192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.881445; captureRadius = 10; duration = 109; initialDepth = 1096.026492; finalDepth = 1094.130192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.130192 # Seafloor depth:-1144.130192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1146.026492 meters looking forward 0.000000 meters along route # Maximum depth: 1146.026492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.026492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779089; longitude = -121.880734; captureRadius = 10; duration = 109; initialDepth = 1094.336170; finalDepth = 1096.026492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.026492 # Seafloor depth:-1146.026492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1144.336170 meters looking forward 0.000000 meters along route # Maximum depth: 1144.336170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.336170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.880122; captureRadius = 10; duration = 109; initialDepth = 1104.661173; finalDepth = 1094.336170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.33617 # Seafloor depth:-1144.336170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1154.661173 meters looking forward 0.000000 meters along route # Maximum depth: 1154.661173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.661173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780686; longitude = -121.879461; captureRadius = 10; duration = 109; initialDepth = 1116.860082; finalDepth = 1104.661173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1104.661173 # Seafloor depth:-1154.661173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1166.860082 meters looking forward 0.000000 meters along route # Maximum depth: 1166.860082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.860082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.878799; captureRadius = 10; duration = 109; initialDepth = 1107.143284; finalDepth = 1116.860082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1116.860082 # Seafloor depth:-1166.860082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1157.143284 meters looking forward 0.000000 meters along route # Maximum depth: 1157.143284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.143284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.878138; captureRadius = 10; duration = 109; initialDepth = 1094.589861; finalDepth = 1107.143284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.143284 # Seafloor depth:-1157.143284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1144.589861 meters looking forward 0.000000 meters along route # Maximum depth: 1144.589861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.589861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.877476; captureRadius = 10; duration = 109; initialDepth = 1094.057224; finalDepth = 1094.589861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.589861 # Seafloor depth:-1144.589861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1144.057224 meters looking forward 0.000000 meters along route # Maximum depth: 1144.057224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.057224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.876815; captureRadius = 10; duration = 109; initialDepth = 1095.439095; finalDepth = 1094.057224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.057224 # Seafloor depth:-1144.057224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1145.439095 meters looking forward 0.000000 meters along route # Maximum depth: 1145.439095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.439095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.876153; captureRadius = 10; duration = 109; initialDepth = 1096.339876; finalDepth = 1095.439095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.439095 # Seafloor depth:-1145.439095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1146.339876 meters looking forward 0.000000 meters along route # Maximum depth: 1146.339876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.339876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785672; longitude = -121.875482; captureRadius = 10; duration = 109; initialDepth = 1095.929899; finalDepth = 1096.339876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.339876 # Seafloor depth:-1146.339876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1145.929899 meters looking forward 0.000000 meters along route # Maximum depth: 1145.929899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.929899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.874830; captureRadius = 10; duration = 109; initialDepth = 1101.598792; finalDepth = 1095.929899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.929899 # Seafloor depth:-1145.929899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1151.598792 meters looking forward 0.000000 meters along route # Maximum depth: 1151.598792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.598792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.874169; captureRadius = 10; duration = 109; initialDepth = 1096.476572; finalDepth = 1101.598792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.598792 # Seafloor depth:-1151.598792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1146.476572 meters looking forward 0.000000 meters along route # Maximum depth: 1146.476572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.476572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.873507; captureRadius = 10; duration = 109; initialDepth = 1094.418058; finalDepth = 1096.476572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.476572 # Seafloor depth:-1146.476572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1144.418058 meters looking forward 0.000000 meters along route # Maximum depth: 1144.418058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.418058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.872845; captureRadius = 10; duration = 109; initialDepth = 1100.911201; finalDepth = 1094.418058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.418058 # Seafloor depth:-1144.418058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1150.911201 meters looking forward 0.000000 meters along route # Maximum depth: 1150.911201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.911201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789830; longitude = -121.872166; captureRadius = 10; duration = 109; initialDepth = 1103.187271; finalDepth = 1100.911201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.911201 # Seafloor depth:-1150.911201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1153.187271 meters looking forward 0.000000 meters along route # Maximum depth: 1153.187271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.187271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790636; longitude = -121.871522; captureRadius = 10; duration = 109; initialDepth = 1097.708907; finalDepth = 1103.187271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.187271 # Seafloor depth:-1153.187271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1147.708907 meters looking forward 0.000000 meters along route # Maximum depth: 1147.708907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.708907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.870861; captureRadius = 10; duration = 109; initialDepth = 1100.869005; finalDepth = 1097.708907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.708907 # Seafloor depth:-1147.708907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1150.869005 meters looking forward 0.000000 meters along route # Maximum depth: 1150.869005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.869005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792295; longitude = -121.870199; captureRadius = 10; duration = 109; initialDepth = 1103.064946; finalDepth = 1100.869005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.869005 # Seafloor depth:-1150.869005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1153.064946 meters looking forward 0.000000 meters along route # Maximum depth: 1153.064946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.064946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793124; longitude = -121.869538; captureRadius = 10; duration = 109; initialDepth = 1102.126250; finalDepth = 1103.064946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.064946 # Seafloor depth:-1153.064946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1152.126250 meters looking forward 0.000000 meters along route # Maximum depth: 1152.126250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.126250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793988; longitude = -121.868849; captureRadius = 10; duration = 109; initialDepth = 1095.196058; finalDepth = 1102.126250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.12625 # Seafloor depth:-1152.126250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1145.196058 meters looking forward 0.000000 meters along route # Maximum depth: 1145.196058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.196058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794782; longitude = -121.868215; captureRadius = 10; duration = 109; initialDepth = 1096.914949; finalDepth = 1095.196058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.196058 # Seafloor depth:-1145.196058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1146.914949 meters looking forward 0.000000 meters along route # Maximum depth: 1146.914949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.914949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795611; longitude = -121.867553; captureRadius = 10; duration = 109; initialDepth = 1098.046068; finalDepth = 1096.914949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.914949 # Seafloor depth:-1146.914949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1148.046068 meters looking forward 0.000000 meters along route # Maximum depth: 1148.046068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.046068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796441; longitude = -121.866892; captureRadius = 10; duration = 109; initialDepth = 1100.842467; finalDepth = 1098.046068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.046068 # Seafloor depth:-1148.046068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1150.842467 meters looking forward 0.000000 meters along route # Maximum depth: 1150.842467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.842467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797270; longitude = -121.866230; captureRadius = 10; duration = 109; initialDepth = 1098.804991; finalDepth = 1100.842467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.842467 # Seafloor depth:-1150.842467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1148.804991 meters looking forward 0.000000 meters along route # Maximum depth: 1148.804991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.804991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798145; longitude = -121.865532; captureRadius = 10; duration = 109; initialDepth = 1101.453633; finalDepth = 1098.804991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.804991 # Seafloor depth:-1148.804991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1151.453633 meters looking forward 0.000000 meters along route # Maximum depth: 1151.453633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.453633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798928; longitude = -121.864907; captureRadius = 10; duration = 109; initialDepth = 1101.280171; finalDepth = 1101.453633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.453633 # Seafloor depth:-1151.453633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.637980 meters # Minimum depth: 1151.280171 meters looking forward 0.000000 meters along route # Maximum depth: 1151.280171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.280171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799878; longitude = -121.864150; captureRadius = 10; duration = 109; initialDepth = 1097.691010; finalDepth = 1101.280171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.280171 # Seafloor depth:-1151.280171 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 109.637980 meters # Minimum depth: 1147.691010 meters looking forward 0.000000 meters along route # Maximum depth: 1147.691010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.691010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800771; longitude = -121.863437; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1097.887478; finalDepth = 1097.691010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.69101 # Seafloor depth:-1147.691010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 109.637980 meters # Minimum depth: 1147.887478 meters looking forward 0.000000 meters along route # Maximum depth: 1147.887478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.887478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800563; longitude = -121.863044; captureRadius = 10; duration = 109; initialDepth = 1099.481903; finalDepth = 1097.887478; 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:1097.887478 # Seafloor depth:-1147.887478 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 109.637980 meters # Minimum depth: 1149.481903 meters looking forward 0.000000 meters along route # Maximum depth: 1149.481903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.481903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800034; longitude = -121.862046; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1100.074564; finalDepth = 1099.481903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1099.481903 # Seafloor depth:-1149.481903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1150.074564 meters looking forward 0.000000 meters along route # Maximum depth: 1150.074564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.074564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799475; longitude = -121.862492; captureRadius = 10; duration = 109; initialDepth = 1096.597474; finalDepth = 1100.074564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.074564 # Seafloor depth:-1150.074564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1146.597474 meters looking forward 0.000000 meters along route # Maximum depth: 1146.597474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.597474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798652; longitude = -121.863148; captureRadius = 10; duration = 109; initialDepth = 1094.231134; finalDepth = 1096.597474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.597474 # Seafloor depth:-1146.597474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1144.231134 meters looking forward 0.000000 meters along route # Maximum depth: 1144.231134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.231134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797823; longitude = -121.863810; captureRadius = 10; duration = 109; initialDepth = 1094.017932; finalDepth = 1094.231134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.231134 # Seafloor depth:-1144.231134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1144.017932 meters looking forward 0.000000 meters along route # Maximum depth: 1144.017932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.017932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -121.864471; captureRadius = 10; duration = 109; initialDepth = 1095.611584; finalDepth = 1094.017932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.017932 # Seafloor depth:-1144.017932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1145.611584 meters looking forward 0.000000 meters along route # Maximum depth: 1145.611584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.611584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.865133; captureRadius = 10; duration = 109; initialDepth = 1094.327214; finalDepth = 1095.611584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.611584 # Seafloor depth:-1145.611584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1144.327214 meters looking forward 0.000000 meters along route # Maximum depth: 1144.327214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.327214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795317; longitude = -121.865808; captureRadius = 10; duration = 109; initialDepth = 1093.490345; finalDepth = 1094.327214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.327214 # Seafloor depth:-1144.327214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1143.490345 meters looking forward 0.000000 meters along route # Maximum depth: 1143.490345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.490345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.866456; captureRadius = 10; duration = 109; initialDepth = 1099.127074; finalDepth = 1093.490345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.490345 # Seafloor depth:-1143.490345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1149.127074 meters looking forward 0.000000 meters along route # Maximum depth: 1149.127074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.127074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.867117; captureRadius = 10; duration = 109; initialDepth = 1099.068589; finalDepth = 1099.127074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1099.127074 # Seafloor depth:-1149.127074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1149.068589 meters looking forward 0.000000 meters along route # Maximum depth: 1149.068589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.068589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792847; longitude = -121.867779; captureRadius = 10; duration = 109; initialDepth = 1097.095106; finalDepth = 1099.068589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1099.068589 # Seafloor depth:-1149.068589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1147.095106 meters looking forward 0.000000 meters along route # Maximum depth: 1147.095106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.095106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.868440; captureRadius = 10; duration = 109; initialDepth = 1097.198404; finalDepth = 1097.095106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.095106 # Seafloor depth:-1147.095106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1147.198404 meters looking forward 0.000000 meters along route # Maximum depth: 1147.198404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.198404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791160; longitude = -121.869125; captureRadius = 10; duration = 109; initialDepth = 1097.480466; finalDepth = 1097.198404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.198404 # Seafloor depth:-1147.198404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1147.480466 meters looking forward 0.000000 meters along route # Maximum depth: 1147.480466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.480466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790360; longitude = -121.869763; captureRadius = 10; duration = 109; initialDepth = 1094.578355; finalDepth = 1097.480466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.480466 # Seafloor depth:-1147.480466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1144.578355 meters looking forward 0.000000 meters along route # Maximum depth: 1144.578355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.578355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.870425; captureRadius = 10; duration = 109; initialDepth = 1088.859545; finalDepth = 1094.578355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.578355 # Seafloor depth:-1144.578355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1138.859545 meters looking forward 0.000000 meters along route # Maximum depth: 1138.859545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.859545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.871086; captureRadius = 10; duration = 109; initialDepth = 1095.044382; finalDepth = 1088.859545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.859545 # Seafloor depth:-1138.859545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1145.044382 meters looking forward 0.000000 meters along route # Maximum depth: 1145.044382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.044382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.871748; captureRadius = 10; duration = 109; initialDepth = 1099.877721; finalDepth = 1095.044382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.044382 # Seafloor depth:-1145.044382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1149.877721 meters looking forward 0.000000 meters along route # Maximum depth: 1149.877721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.877721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787002; longitude = -121.872442; captureRadius = 10; duration = 109; initialDepth = 1099.146250; finalDepth = 1099.877721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1099.877721 # Seafloor depth:-1149.877721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1149.146250 meters looking forward 0.000000 meters along route # Maximum depth: 1149.146250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.146250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786214; longitude = -121.873071; captureRadius = 10; duration = 109; initialDepth = 1096.055164; finalDepth = 1099.146250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1099.14625 # Seafloor depth:-1149.146250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1146.055164 meters looking forward 0.000000 meters along route # Maximum depth: 1146.055164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.055164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.873733; captureRadius = 10; duration = 109; initialDepth = 1093.236002; finalDepth = 1096.055164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.055164 # Seafloor depth:-1146.055164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1143.236002 meters looking forward 0.000000 meters along route # Maximum depth: 1143.236002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.236002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.874394; captureRadius = 10; duration = 109; initialDepth = 1089.792502; finalDepth = 1093.236002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.236002 # Seafloor depth:-1143.236002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1139.792502 meters looking forward 0.000000 meters along route # Maximum depth: 1139.792502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.792502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.875056; captureRadius = 10; duration = 109; initialDepth = 1092.399415; finalDepth = 1089.792502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.792502 # Seafloor depth:-1139.792502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1142.399415 meters looking forward 0.000000 meters along route # Maximum depth: 1142.399415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.399415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782845; longitude = -121.875759; captureRadius = 10; duration = 109; initialDepth = 1107.458263; finalDepth = 1092.399415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.399415 # Seafloor depth:-1142.399415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1157.458263 meters looking forward 0.000000 meters along route # Maximum depth: 1157.458263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.458263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782068; longitude = -121.876379; captureRadius = 10; duration = 109; initialDepth = 1108.412872; finalDepth = 1107.458263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.458263 # Seafloor depth:-1157.458263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1158.412872 meters looking forward 0.000000 meters along route # Maximum depth: 1158.412872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.412872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.877040; captureRadius = 10; duration = 109; initialDepth = 1106.399551; finalDepth = 1108.412872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.412872 # Seafloor depth:-1158.412872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1156.399551 meters looking forward 0.000000 meters along route # Maximum depth: 1156.399551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.399551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.877702; captureRadius = 10; duration = 109; initialDepth = 1097.859330; finalDepth = 1106.399551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.399551 # Seafloor depth:-1156.399551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1147.859330 meters looking forward 0.000000 meters along route # Maximum depth: 1147.859330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.859330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.878363; captureRadius = 10; duration = 109; initialDepth = 1092.314832; finalDepth = 1097.859330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.85933 # Seafloor depth:-1147.859330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1142.314832 meters looking forward 0.000000 meters along route # Maximum depth: 1142.314832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.314832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778687; longitude = -121.879076; captureRadius = 10; duration = 109; initialDepth = 1093.158302; finalDepth = 1092.314832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.314832 # Seafloor depth:-1142.314832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1143.158302 meters looking forward 0.000000 meters along route # Maximum depth: 1143.158302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.158302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777922; longitude = -121.879686; captureRadius = 10; duration = 109; initialDepth = 1093.903176; finalDepth = 1093.158302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.158302 # Seafloor depth:-1143.158302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1143.903176 meters looking forward 0.000000 meters along route # Maximum depth: 1143.903176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.903176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.880348; captureRadius = 10; duration = 109; initialDepth = 1095.455634; finalDepth = 1093.903176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.903176 # Seafloor depth:-1143.903176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1145.455634 meters looking forward 0.000000 meters along route # Maximum depth: 1145.455634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.455634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776262; longitude = -121.881011; captureRadius = 10; duration = 109; initialDepth = 1091.954364; finalDepth = 1095.455634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.455634 # Seafloor depth:-1145.455634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1141.954364 meters looking forward 0.000000 meters along route # Maximum depth: 1141.954364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.954364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.881671; captureRadius = 10; duration = 109; initialDepth = 1094.261554; finalDepth = 1091.954364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1091.954364 # Seafloor depth:-1141.954364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1144.261554 meters looking forward 0.000000 meters along route # Maximum depth: 1144.261554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.261554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.882333; captureRadius = 10; duration = 109; initialDepth = 1104.696126; finalDepth = 1094.261554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.261554 # Seafloor depth:-1144.261554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1154.696126 meters looking forward 0.000000 meters along route # Maximum depth: 1154.696126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.696126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.882994; captureRadius = 10; duration = 109; initialDepth = 1100.270677; finalDepth = 1104.696126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1104.696126 # Seafloor depth:-1154.696126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1150.270677 meters looking forward 0.000000 meters along route # Maximum depth: 1150.270677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.270677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.883656; captureRadius = 10; duration = 109; initialDepth = 1095.201756; finalDepth = 1100.270677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.270677 # Seafloor depth:-1150.270677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1145.201756 meters looking forward 0.000000 meters along route # Maximum depth: 1145.201756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.201756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772104; longitude = -121.884327; captureRadius = 10; duration = 109; initialDepth = 1097.427584; finalDepth = 1095.201756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.201756 # Seafloor depth:-1145.201756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1147.427584 meters looking forward 0.000000 meters along route # Maximum depth: 1147.427584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.427584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.884979; captureRadius = 10; duration = 109; initialDepth = 1097.250851; finalDepth = 1097.427584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.427584 # Seafloor depth:-1147.427584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1147.250851 meters looking forward 0.000000 meters along route # Maximum depth: 1147.250851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.250851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.885640; captureRadius = 10; duration = 109; initialDepth = 1098.656446; finalDepth = 1097.250851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.250851 # Seafloor depth:-1147.250851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.637980 meters # Minimum depth: 1148.656446 meters looking forward 0.000000 meters along route # Maximum depth: 1148.656446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.656446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.886302; captureRadius = 10; duration = 109; initialDepth = 1097.577454; finalDepth = 1098.656446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.656446 # Seafloor depth:-1148.656446 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 109.637980 meters # Minimum depth: 1147.577454 meters looking forward 0.000000 meters along route # Maximum depth: 1147.577454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.577454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768618; longitude = -121.887109; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1094.831999; finalDepth = 1097.577454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.577454 # Seafloor depth:-1147.577454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.637980 meters # Minimum depth: 1144.831999 meters looking forward 0.000000 meters along route # Maximum depth: 1144.831999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.831999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768463; longitude = -121.886815; captureRadius = 10; duration = 109; initialDepth = 1094.440613; finalDepth = 1094.831999; 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:1094.831999 # Seafloor depth:-1144.831999 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 109.637980 meters # Minimum depth: 1144.440613 meters looking forward 0.000000 meters along route # Maximum depth: 1144.440613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.440613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767881; longitude = -121.885717; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1092.750313; finalDepth = 1094.440613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.440613 # Seafloor depth:-1144.440613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1142.750313 meters looking forward 0.000000 meters along route # Maximum depth: 1142.750313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.750313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768584; longitude = -121.885157; captureRadius = 10; duration = 109; initialDepth = 1094.010348; finalDepth = 1092.750313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.750313 # Seafloor depth:-1142.750313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1144.010348 meters looking forward 0.000000 meters along route # Maximum depth: 1144.010348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.010348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769353; longitude = -121.884543; captureRadius = 10; duration = 109; initialDepth = 1093.616294; finalDepth = 1094.010348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.010348 # Seafloor depth:-1144.010348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1143.616294 meters looking forward 0.000000 meters along route # Maximum depth: 1143.616294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.616294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770182; longitude = -121.883882; captureRadius = 10; duration = 109; initialDepth = 1092.496581; finalDepth = 1093.616294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.616294 # Seafloor depth:-1143.616294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1142.496581 meters looking forward 0.000000 meters along route # Maximum depth: 1142.496581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.496581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771012; longitude = -121.883220; captureRadius = 10; duration = 109; initialDepth = 1093.881693; finalDepth = 1092.496581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.496581 # Seafloor depth:-1142.496581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1143.881693 meters looking forward 0.000000 meters along route # Maximum depth: 1143.881693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.881693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771841; longitude = -121.882559; captureRadius = 10; duration = 109; initialDepth = 1098.581512; finalDepth = 1093.881693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.881693 # Seafloor depth:-1143.881693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1148.581512 meters looking forward 0.000000 meters along route # Maximum depth: 1148.581512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.581512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772742; longitude = -121.881840; captureRadius = 10; duration = 109; initialDepth = 1097.293229; finalDepth = 1098.581512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.581512 # Seafloor depth:-1148.581512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1147.293229 meters looking forward 0.000000 meters along route # Maximum depth: 1147.293229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.293229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.881235; captureRadius = 10; duration = 109; initialDepth = 1094.156225; finalDepth = 1097.293229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.293229 # Seafloor depth:-1147.293229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1144.156225 meters looking forward 0.000000 meters along route # Maximum depth: 1144.156225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.156225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774328; longitude = -121.880574; captureRadius = 10; duration = 109; initialDepth = 1090.705118; finalDepth = 1094.156225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.156225 # Seafloor depth:-1144.156225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1140.705118 meters looking forward 0.000000 meters along route # Maximum depth: 1140.705118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.705118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775167; longitude = -121.879905; captureRadius = 10; duration = 109; initialDepth = 1090.734461; finalDepth = 1090.705118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.705118 # Seafloor depth:-1140.705118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1140.734461 meters looking forward 0.000000 meters along route # Maximum depth: 1140.734461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.734461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.879251; captureRadius = 10; duration = 109; initialDepth = 1091.670470; finalDepth = 1090.734461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.734461 # Seafloor depth:-1140.734461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1141.670470 meters looking forward 0.000000 meters along route # Maximum depth: 1141.670470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.670470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.878589; captureRadius = 10; duration = 109; initialDepth = 1090.095290; finalDepth = 1091.670470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1091.67047 # Seafloor depth:-1141.670470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1140.095290 meters looking forward 0.000000 meters along route # Maximum depth: 1140.095290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.095290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.877928; captureRadius = 10; duration = 109; initialDepth = 1090.427331; finalDepth = 1090.095290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.09529 # Seafloor depth:-1140.095290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1140.427331 meters looking forward 0.000000 meters along route # Maximum depth: 1140.427331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.427331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.877266; captureRadius = 10; duration = 109; initialDepth = 1096.823681; finalDepth = 1090.427331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.427331 # Seafloor depth:-1140.427331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1146.823681 meters looking forward 0.000000 meters along route # Maximum depth: 1146.823681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.823681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779324; longitude = -121.876588; captureRadius = 10; duration = 109; initialDepth = 1102.643226; finalDepth = 1096.823681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.823681 # Seafloor depth:-1146.823681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1152.643226 meters looking forward 0.000000 meters along route # Maximum depth: 1152.643226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.643226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780133; longitude = -121.875943; captureRadius = 10; duration = 109; initialDepth = 1103.527891; finalDepth = 1102.643226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.643226 # Seafloor depth:-1152.643226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1153.527891 meters looking forward 0.000000 meters along route # Maximum depth: 1153.527891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.527891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.875281; captureRadius = 10; duration = 109; initialDepth = 1103.063056; finalDepth = 1103.527891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.527891 # Seafloor depth:-1153.527891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1153.063056 meters looking forward 0.000000 meters along route # Maximum depth: 1153.063056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.063056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.874620; captureRadius = 10; duration = 109; initialDepth = 1088.758886; finalDepth = 1103.063056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.063056 # Seafloor depth:-1153.063056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1138.758886 meters looking forward 0.000000 meters along route # Maximum depth: 1138.758886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.758886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.873958; captureRadius = 10; duration = 109; initialDepth = 1091.489394; finalDepth = 1088.758886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.758886 # Seafloor depth:-1138.758886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1141.489394 meters looking forward 0.000000 meters along route # Maximum depth: 1141.489394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.489394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783482; longitude = -121.873271; captureRadius = 10; duration = 109; initialDepth = 1089.269528; finalDepth = 1091.489394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1091.489394 # Seafloor depth:-1141.489394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1139.269528 meters looking forward 0.000000 meters along route # Maximum depth: 1139.269528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.269528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.872635; captureRadius = 10; duration = 109; initialDepth = 1090.425673; finalDepth = 1089.269528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.269528 # Seafloor depth:-1139.269528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1140.425673 meters looking forward 0.000000 meters along route # Maximum depth: 1140.425673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.425673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.871974; captureRadius = 10; duration = 109; initialDepth = 1098.019832; finalDepth = 1090.425673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.425673 # Seafloor depth:-1140.425673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1148.019832 meters looking forward 0.000000 meters along route # Maximum depth: 1148.019832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.019832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.871312; captureRadius = 10; duration = 109; initialDepth = 1091.832512; finalDepth = 1098.019832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.019832 # Seafloor depth:-1148.019832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1141.832512 meters looking forward 0.000000 meters along route # Maximum depth: 1141.832512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.832512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.870651; captureRadius = 10; duration = 109; initialDepth = 1092.313694; finalDepth = 1091.832512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1091.832512 # Seafloor depth:-1141.832512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1142.313694 meters looking forward 0.000000 meters along route # Maximum depth: 1142.313694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.313694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787639; longitude = -121.869954; captureRadius = 10; duration = 109; initialDepth = 1091.033553; finalDepth = 1092.313694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.313694 # Seafloor depth:-1142.313694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1141.033553 meters looking forward 0.000000 meters along route # Maximum depth: 1141.033553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.033553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788425; longitude = -121.869328; captureRadius = 10; duration = 109; initialDepth = 1092.220351; finalDepth = 1091.033553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1091.033553 # Seafloor depth:-1141.033553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1142.220351 meters looking forward 0.000000 meters along route # Maximum depth: 1142.220351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.220351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789254; longitude = -121.868666; captureRadius = 10; duration = 109; initialDepth = 1096.430985; finalDepth = 1092.220351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.220351 # Seafloor depth:-1142.220351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1146.430985 meters looking forward 0.000000 meters along route # Maximum depth: 1146.430985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.430985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.868004; captureRadius = 10; duration = 109; initialDepth = 1095.285183; finalDepth = 1096.430985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.430985 # Seafloor depth:-1146.430985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1145.285183 meters looking forward 0.000000 meters along route # Maximum depth: 1145.285183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.285183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790913; longitude = -121.867343; captureRadius = 10; duration = 109; initialDepth = 1095.618701; finalDepth = 1095.285183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.285183 # Seafloor depth:-1145.285183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1145.618701 meters looking forward 0.000000 meters along route # Maximum depth: 1145.618701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.618701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791797; longitude = -121.866638; captureRadius = 10; duration = 109; initialDepth = 1095.151544; finalDepth = 1095.618701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.618701 # Seafloor depth:-1145.618701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1145.151544 meters looking forward 0.000000 meters along route # Maximum depth: 1145.151544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.151544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792571; longitude = -121.866020; captureRadius = 10; duration = 109; initialDepth = 1094.438321; finalDepth = 1095.151544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.151544 # Seafloor depth:-1145.151544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1144.438321 meters looking forward 0.000000 meters along route # Maximum depth: 1144.438321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.438321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793400; longitude = -121.865358; captureRadius = 10; duration = 109; initialDepth = 1090.478469; finalDepth = 1094.438321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.438321 # Seafloor depth:-1144.438321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1140.478469 meters looking forward 0.000000 meters along route # Maximum depth: 1140.478469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.478469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794229; longitude = -121.864697; captureRadius = 10; duration = 109; initialDepth = 1092.162217; finalDepth = 1090.478469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.478469 # Seafloor depth:-1140.478469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1142.162217 meters looking forward 0.000000 meters along route # Maximum depth: 1142.162217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.162217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795059; longitude = -121.864035; captureRadius = 10; duration = 109; initialDepth = 1089.672376; finalDepth = 1092.162217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.162217 # Seafloor depth:-1142.162217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1139.672376 meters looking forward 0.000000 meters along route # Maximum depth: 1139.672376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.672376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795954; longitude = -121.863321; captureRadius = 10; duration = 109; initialDepth = 1092.333209; finalDepth = 1089.672376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.672376 # Seafloor depth:-1139.672376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1142.333209 meters looking forward 0.000000 meters along route # Maximum depth: 1142.333209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.333209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796717; longitude = -121.862712; captureRadius = 10; duration = 109; initialDepth = 1092.542284; finalDepth = 1092.333209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.333209 # Seafloor depth:-1142.333209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1142.542284 meters looking forward 0.000000 meters along route # Maximum depth: 1142.542284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.542284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797546; longitude = -121.862050; captureRadius = 10; duration = 109; initialDepth = 1099.432839; finalDepth = 1092.542284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.542284 # Seafloor depth:-1142.542284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.637980 meters # Minimum depth: 1149.432839 meters looking forward 0.000000 meters along route # Maximum depth: 1149.432839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.432839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798379; longitude = -121.861386; captureRadius = 10; duration = 109; initialDepth = 1101.209778; finalDepth = 1099.432839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1099.432839 # Seafloor depth:-1149.432839 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 109.637980 meters # Minimum depth: 1151.209778 meters looking forward 0.000000 meters along route # Maximum depth: 1151.209778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.209778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799297; longitude = -121.860654; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1100.960865; finalDepth = 1101.209778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.209778 # Seafloor depth:-1151.209778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.637980 meters # Minimum depth: 1150.960865 meters looking forward 0.000000 meters along route # Maximum depth: 1150.960865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.960865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799099; longitude = -121.860280; captureRadius = 10; duration = 109; initialDepth = 1098.857513; finalDepth = 1100.960865; 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:1100.960865 # Seafloor depth:-1150.960865 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 109.637980 meters # Minimum depth: 1148.857513 meters looking forward 0.000000 meters along route # Maximum depth: 1148.857513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.857513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798559; longitude = -121.859263; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1092.840569; finalDepth = 1098.857513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.857513 # Seafloor depth:-1148.857513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1142.840569 meters looking forward 0.000000 meters along route # Maximum depth: 1142.840569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.840569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797823; longitude = -121.859850; captureRadius = 10; duration = 109; initialDepth = 1091.398436; finalDepth = 1092.840569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.840569 # Seafloor depth:-1142.840569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1141.398436 meters looking forward 0.000000 meters along route # Maximum depth: 1141.398436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.398436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796937; longitude = -121.860557; captureRadius = 10; duration = 109; initialDepth = 1088.879874; finalDepth = 1091.398436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1091.398436 # Seafloor depth:-1141.398436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1138.879874 meters looking forward 0.000000 meters along route # Maximum depth: 1138.879874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.879874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.861173; captureRadius = 10; duration = 109; initialDepth = 1089.557836; finalDepth = 1088.879874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.879874 # Seafloor depth:-1138.879874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1139.557836 meters looking forward 0.000000 meters along route # Maximum depth: 1139.557836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.557836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795335; longitude = -121.861835; captureRadius = 10; duration = 109; initialDepth = 1088.857876; finalDepth = 1089.557836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.557836 # Seafloor depth:-1139.557836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1138.857876 meters looking forward 0.000000 meters along route # Maximum depth: 1138.857876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.857876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.862497; captureRadius = 10; duration = 109; initialDepth = 1088.483014; finalDepth = 1088.857876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.857876 # Seafloor depth:-1138.857876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1138.483014 meters looking forward 0.000000 meters along route # Maximum depth: 1138.483014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.483014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.863158; captureRadius = 10; duration = 109; initialDepth = 1096.248431; finalDepth = 1088.483014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.483014 # Seafloor depth:-1138.483014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1146.248431 meters looking forward 0.000000 meters along route # Maximum depth: 1146.248431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.248431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792780; longitude = -121.863874; captureRadius = 10; duration = 109; initialDepth = 1091.190609; finalDepth = 1096.248431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.248431 # Seafloor depth:-1146.248431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1141.190609 meters looking forward 0.000000 meters along route # Maximum depth: 1141.190609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.190609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.864481; captureRadius = 10; duration = 109; initialDepth = 1087.757829; finalDepth = 1091.190609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1091.190609 # Seafloor depth:-1141.190609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1137.757829 meters looking forward 0.000000 meters along route # Maximum depth: 1137.757829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.757829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791189; longitude = -121.865143; captureRadius = 10; duration = 109; initialDepth = 1092.782825; finalDepth = 1087.757829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.757829 # Seafloor depth:-1137.757829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1142.782825 meters looking forward 0.000000 meters along route # Maximum depth: 1142.782825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.782825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790355; longitude = -121.865808; captureRadius = 10; duration = 109; initialDepth = 1093.277651; finalDepth = 1092.782825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.782825 # Seafloor depth:-1142.782825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1143.277651 meters looking forward 0.000000 meters along route # Maximum depth: 1143.277651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.277651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.866466; captureRadius = 10; duration = 109; initialDepth = 1088.528667; finalDepth = 1093.277651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.277651 # Seafloor depth:-1143.277651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1138.528667 meters looking forward 0.000000 meters along route # Maximum depth: 1138.528667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.528667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.867127; captureRadius = 10; duration = 109; initialDepth = 1084.539549; finalDepth = 1088.528667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.528667 # Seafloor depth:-1138.528667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1134.539549 meters looking forward 0.000000 meters along route # Maximum depth: 1134.539549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.539549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.867789; captureRadius = 10; duration = 109; initialDepth = 1085.753642; finalDepth = 1084.539549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.539549 # Seafloor depth:-1134.539549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1135.753642 meters looking forward 0.000000 meters along route # Maximum depth: 1135.753642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.753642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.868451; captureRadius = 10; duration = 109; initialDepth = 1089.274727; finalDepth = 1085.753642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1085.753642 # Seafloor depth:-1135.753642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1139.274727 meters looking forward 0.000000 meters along route # Maximum depth: 1139.274727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.274727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786197; longitude = -121.869125; captureRadius = 10; duration = 109; initialDepth = 1093.366013; finalDepth = 1089.274727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.274727 # Seafloor depth:-1139.274727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1143.366013 meters looking forward 0.000000 meters along route # Maximum depth: 1143.366013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.366013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.869774; captureRadius = 10; duration = 109; initialDepth = 1088.484953; finalDepth = 1093.366013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.366013 # Seafloor depth:-1143.366013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1138.484953 meters looking forward 0.000000 meters along route # Maximum depth: 1138.484953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.484953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.870435; captureRadius = 10; duration = 109; initialDepth = 1086.222945; finalDepth = 1088.484953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.484953 # Seafloor depth:-1138.484953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1136.222945 meters looking forward 0.000000 meters along route # Maximum depth: 1136.222945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.222945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.871097; captureRadius = 10; duration = 109; initialDepth = 1087.753667; finalDepth = 1086.222945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.222945 # Seafloor depth:-1136.222945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1137.753667 meters looking forward 0.000000 meters along route # Maximum depth: 1137.753667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.753667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.871758; captureRadius = 10; duration = 109; initialDepth = 1090.628366; finalDepth = 1087.753667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.753667 # Seafloor depth:-1137.753667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1140.628366 meters looking forward 0.000000 meters along route # Maximum depth: 1140.628366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.628366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782040; longitude = -121.872442; captureRadius = 10; duration = 109; initialDepth = 1096.520070; finalDepth = 1090.628366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.628366 # Seafloor depth:-1140.628366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1146.520070 meters looking forward 0.000000 meters along route # Maximum depth: 1146.520070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.520070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.873082; captureRadius = 10; duration = 109; initialDepth = 1099.127982; finalDepth = 1096.520070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.52007 # Seafloor depth:-1146.520070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1149.127982 meters looking forward 0.000000 meters along route # Maximum depth: 1149.127982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.127982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.873743; captureRadius = 10; duration = 109; initialDepth = 1098.781349; finalDepth = 1099.127982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1099.127982 # Seafloor depth:-1149.127982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1148.781349 meters looking forward 0.000000 meters along route # Maximum depth: 1148.781349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.781349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.874405; captureRadius = 10; duration = 109; initialDepth = 1094.717591; finalDepth = 1098.781349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.781349 # Seafloor depth:-1148.781349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1144.717591 meters looking forward 0.000000 meters along route # Maximum depth: 1144.717591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.717591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.875066; captureRadius = 10; duration = 109; initialDepth = 1088.173500; finalDepth = 1094.717591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.717591 # Seafloor depth:-1144.717591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1138.173500 meters looking forward 0.000000 meters along route # Maximum depth: 1138.173500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.173500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777883; longitude = -121.875759; captureRadius = 10; duration = 109; initialDepth = 1088.129116; finalDepth = 1088.173500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.1735 # Seafloor depth:-1138.173500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1138.129116 meters looking forward 0.000000 meters along route # Maximum depth: 1138.129116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.129116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.876389; captureRadius = 10; duration = 109; initialDepth = 1088.950744; finalDepth = 1088.129116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.129116 # Seafloor depth:-1138.129116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1138.950744 meters looking forward 0.000000 meters along route # Maximum depth: 1138.950744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.950744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.877051; captureRadius = 10; duration = 109; initialDepth = 1087.349534; finalDepth = 1088.950744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.950744 # Seafloor depth:-1138.950744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1137.349534 meters looking forward 0.000000 meters along route # Maximum depth: 1137.349534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.349534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.877713; captureRadius = 10; duration = 109; initialDepth = 1087.186792; finalDepth = 1087.349534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.349534 # Seafloor depth:-1137.349534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1137.186792 meters looking forward 0.000000 meters along route # Maximum depth: 1137.186792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.186792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.878374; captureRadius = 10; duration = 109; initialDepth = 1093.064674; finalDepth = 1087.186792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.186792 # Seafloor depth:-1137.186792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1143.064674 meters looking forward 0.000000 meters along route # Maximum depth: 1143.064674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.064674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773725; longitude = -121.879076; captureRadius = 10; duration = 109; initialDepth = 1093.057347; finalDepth = 1093.064674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.064674 # Seafloor depth:-1143.064674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1143.057347 meters looking forward 0.000000 meters along route # Maximum depth: 1143.057347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.057347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.879697; captureRadius = 10; duration = 109; initialDepth = 1091.484872; finalDepth = 1093.057347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.057347 # Seafloor depth:-1143.057347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1141.484872 meters looking forward 0.000000 meters along route # Maximum depth: 1141.484872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.484872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.880359; captureRadius = 10; duration = 109; initialDepth = 1090.863008; finalDepth = 1091.484872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1091.484872 # Seafloor depth:-1141.484872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1140.863008 meters looking forward 0.000000 meters along route # Maximum depth: 1140.863008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.863008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.881020; captureRadius = 10; duration = 109; initialDepth = 1091.780468; finalDepth = 1090.863008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.863008 # Seafloor depth:-1140.863008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1141.780468 meters looking forward 0.000000 meters along route # Maximum depth: 1141.780468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.780468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.881682; captureRadius = 10; duration = 109; initialDepth = 1090.773969; finalDepth = 1091.780468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1091.780468 # Seafloor depth:-1141.780468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1140.773969 meters looking forward 0.000000 meters along route # Maximum depth: 1140.773969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.773969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769568; longitude = -121.882393; captureRadius = 10; duration = 109; initialDepth = 1092.049715; finalDepth = 1090.773969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.773969 # Seafloor depth:-1140.773969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1142.049715 meters looking forward 0.000000 meters along route # Maximum depth: 1142.049715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.049715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.883005; captureRadius = 10; duration = 109; initialDepth = 1097.006774; finalDepth = 1092.049715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.049715 # Seafloor depth:-1142.049715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.637980 meters # Minimum depth: 1147.006774 meters looking forward 0.000000 meters along route # Maximum depth: 1147.006774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.006774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.883667; captureRadius = 10; duration = 109; initialDepth = 1096.650299; finalDepth = 1097.006774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.006774 # Seafloor depth:-1147.006774 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 109.637980 meters # Minimum depth: 1146.650299 meters looking forward 0.000000 meters along route # Maximum depth: 1146.650299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.650299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767144; longitude = -121.884326; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1095.445859; finalDepth = 1096.650299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.650299 # Seafloor depth:-1146.650299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 109.637980 meters # Minimum depth: 1145.445859 meters looking forward 0.000000 meters along route # Maximum depth: 1145.445859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.445859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766999; longitude = -121.884051; captureRadius = 10; duration = 109; initialDepth = 1090.858154; finalDepth = 1095.445859; 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:1095.445859 # Seafloor depth:-1145.445859 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 109.637980 meters # Minimum depth: 1140.858154 meters looking forward 0.000000 meters along route # Maximum depth: 1140.858154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.858154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766408; longitude = -121.882935; captureRadius = 10; duration = 109; # abortOnTimeout = True; initialDepth = 1090.094410; finalDepth = 1090.858154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.858154 # Seafloor depth:-1140.858154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1140.094410 meters looking forward 0.000000 meters along route # Maximum depth: 1140.094410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.094410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767142; longitude = -121.882349; captureRadius = 10; duration = 109; initialDepth = 1088.785658; finalDepth = 1090.094410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.09441 # Seafloor depth:-1140.094410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1138.785658 meters looking forward 0.000000 meters along route # Maximum depth: 1138.785658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.785658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.881687; captureRadius = 10; duration = 109; initialDepth = 1088.926404; finalDepth = 1088.785658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.785658 # Seafloor depth:-1138.785658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1138.926404 meters looking forward 0.000000 meters along route # Maximum depth: 1138.926404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.926404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768819; longitude = -121.881011; captureRadius = 10; duration = 109; initialDepth = 1088.214107; finalDepth = 1088.926404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.926404 # Seafloor depth:-1138.926404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1138.214107 meters looking forward 0.000000 meters along route # Maximum depth: 1138.214107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.214107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.880364; captureRadius = 10; duration = 109; initialDepth = 1090.791159; finalDepth = 1088.214107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.214107 # Seafloor depth:-1138.214107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1140.791159 meters looking forward 0.000000 meters along route # Maximum depth: 1140.791159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.791159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.879703; captureRadius = 10; duration = 109; initialDepth = 1087.930202; finalDepth = 1090.791159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.791159 # Seafloor depth:-1140.791159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1137.930202 meters looking forward 0.000000 meters along route # Maximum depth: 1137.930202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.930202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.879041; captureRadius = 10; duration = 109; initialDepth = 1092.414167; finalDepth = 1087.930202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.930202 # Seafloor depth:-1137.930202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1142.414167 meters looking forward 0.000000 meters along route # Maximum depth: 1142.414167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.414167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.878380; captureRadius = 10; duration = 109; initialDepth = 1090.952500; finalDepth = 1092.414167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.414167 # Seafloor depth:-1142.414167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1140.952500 meters looking forward 0.000000 meters along route # Maximum depth: 1140.952500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.952500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772977; longitude = -121.877694; captureRadius = 10; duration = 109; initialDepth = 1086.486976; finalDepth = 1090.952500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.9525 # Seafloor depth:-1140.952500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1136.486976 meters looking forward 0.000000 meters along route # Maximum depth: 1136.486976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.486976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.877056; captureRadius = 10; duration = 109; initialDepth = 1084.041428; finalDepth = 1086.486976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.486976 # Seafloor depth:-1136.486976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1134.041428 meters looking forward 0.000000 meters along route # Maximum depth: 1134.041428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.041428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.876395; captureRadius = 10; duration = 109; initialDepth = 1084.666404; finalDepth = 1084.041428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.041428 # Seafloor depth:-1134.041428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1134.666404 meters looking forward 0.000000 meters along route # Maximum depth: 1134.666404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.666404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.875733; captureRadius = 10; duration = 109; initialDepth = 1084.040448; finalDepth = 1084.666404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.666404 # Seafloor depth:-1134.666404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1134.040448 meters looking forward 0.000000 meters along route # Maximum depth: 1134.040448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.040448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.875072; captureRadius = 10; duration = 109; initialDepth = 1083.692171; finalDepth = 1084.040448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.040448 # Seafloor depth:-1134.040448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1133.692171 meters looking forward 0.000000 meters along route # Maximum depth: 1133.692171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.692171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777134; longitude = -121.874377; captureRadius = 10; duration = 109; initialDepth = 1083.867016; finalDepth = 1083.692171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.692171 # Seafloor depth:-1133.692171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1133.867016 meters looking forward 0.000000 meters along route # Maximum depth: 1133.867016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.867016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777922; longitude = -121.873748; captureRadius = 10; duration = 109; initialDepth = 1090.781179; finalDepth = 1083.867016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.867016 # Seafloor depth:-1133.867016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1140.781179 meters looking forward 0.000000 meters along route # Maximum depth: 1140.781179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.781179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.873087; captureRadius = 10; duration = 109; initialDepth = 1097.288436; finalDepth = 1090.781179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.781179 # Seafloor depth:-1140.781179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1147.288436 meters looking forward 0.000000 meters along route # Maximum depth: 1147.288436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.288436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.872425; captureRadius = 10; duration = 109; initialDepth = 1087.618059; finalDepth = 1097.288436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.288436 # Seafloor depth:-1147.288436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1137.618059 meters looking forward 0.000000 meters along route # Maximum depth: 1137.618059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.618059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.871764; captureRadius = 10; duration = 109; initialDepth = 1086.702791; finalDepth = 1087.618059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.618059 # Seafloor depth:-1137.618059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1136.702791 meters looking forward 0.000000 meters along route # Maximum depth: 1136.702791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.702791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781291; longitude = -121.871060; captureRadius = 10; duration = 109; initialDepth = 1089.866832; finalDepth = 1086.702791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.702791 # Seafloor depth:-1136.702791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1139.866832 meters looking forward 0.000000 meters along route # Maximum depth: 1139.866832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.866832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782068; longitude = -121.870441; captureRadius = 10; duration = 109; initialDepth = 1084.199383; finalDepth = 1089.866832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.866832 # Seafloor depth:-1139.866832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1134.199383 meters looking forward 0.000000 meters along route # Maximum depth: 1134.199383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.199383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.869779; captureRadius = 10; duration = 109; initialDepth = 1080.841833; finalDepth = 1084.199383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.199383 # Seafloor depth:-1134.199383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1130.841833 meters looking forward 0.000000 meters along route # Maximum depth: 1130.841833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.841833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.869117; captureRadius = 10; duration = 109; initialDepth = 1088.649677; finalDepth = 1080.841833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.841833 # Seafloor depth:-1130.841833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1138.649677 meters looking forward 0.000000 meters along route # Maximum depth: 1138.649677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.649677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.868456; captureRadius = 10; duration = 109; initialDepth = 1088.568555; finalDepth = 1088.649677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.649677 # Seafloor depth:-1138.649677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1138.568555 meters looking forward 0.000000 meters along route # Maximum depth: 1138.568555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.568555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785449; longitude = -121.867743; captureRadius = 10; duration = 109; initialDepth = 1084.026601; finalDepth = 1088.568555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.568555 # Seafloor depth:-1138.568555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1134.026601 meters looking forward 0.000000 meters along route # Maximum depth: 1134.026601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.026601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786214; longitude = -121.867133; captureRadius = 10; duration = 109; initialDepth = 1081.487004; finalDepth = 1084.026601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.026601 # Seafloor depth:-1134.026601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1131.487004 meters looking forward 0.000000 meters along route # Maximum depth: 1131.487004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.487004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.866471; captureRadius = 10; duration = 109; initialDepth = 1082.864499; finalDepth = 1081.487004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.487004 # Seafloor depth:-1131.487004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1132.864499 meters looking forward 0.000000 meters along route # Maximum depth: 1132.864499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.864499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787874; longitude = -121.865808; captureRadius = 10; duration = 109; initialDepth = 1091.832138; finalDepth = 1082.864499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.864499 # Seafloor depth:-1132.864499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1141.832138 meters looking forward 0.000000 meters along route # Maximum depth: 1141.832138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.832138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.865148; captureRadius = 10; duration = 109; initialDepth = 1088.953332; finalDepth = 1091.832138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1091.832138 # Seafloor depth:-1141.832138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1138.953332 meters looking forward 0.000000 meters along route # Maximum depth: 1138.953332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.953332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.864486; captureRadius = 10; duration = 109; initialDepth = 1086.088371; finalDepth = 1088.953332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.953332 # Seafloor depth:-1138.953332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1136.088371 meters looking forward 0.000000 meters along route # Maximum depth: 1136.088371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.088371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790360; longitude = -121.863825; captureRadius = 10; duration = 109; initialDepth = 1085.930032; finalDepth = 1086.088371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.088371 # Seafloor depth:-1136.088371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1135.930032 meters looking forward 0.000000 meters along route # Maximum depth: 1135.930032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.930032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791189; longitude = -121.863163; captureRadius = 10; duration = 109; initialDepth = 1090.327069; finalDepth = 1085.930032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1085.930032 # Seafloor depth:-1135.930032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1140.327069 meters looking forward 0.000000 meters along route # Maximum depth: 1140.327069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.327069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792031; longitude = -121.862492; captureRadius = 10; duration = 109; initialDepth = 1089.802833; finalDepth = 1090.327069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.327069 # Seafloor depth:-1140.327069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1139.802833 meters looking forward 0.000000 meters along route # Maximum depth: 1139.802833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.802833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792847; longitude = -121.861840; captureRadius = 10; duration = 109; initialDepth = 1083.907793; finalDepth = 1089.802833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.802833 # Seafloor depth:-1139.802833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1133.907793 meters looking forward 0.000000 meters along route # Maximum depth: 1133.907793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.907793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.861178; captureRadius = 10; duration = 109; initialDepth = 1081.353048; finalDepth = 1083.907793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.907793 # Seafloor depth:-1133.907793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1131.353048 meters looking forward 0.000000 meters along route # Maximum depth: 1131.353048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.353048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.860517; captureRadius = 10; duration = 109; initialDepth = 1086.828544; finalDepth = 1081.353048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1081.353048 # Seafloor depth:-1131.353048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1136.828544 meters looking forward 0.000000 meters along route # Maximum depth: 1136.828544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.828544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795335; longitude = -121.859855; captureRadius = 10; duration = 109; initialDepth = 1086.557969; finalDepth = 1086.828544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.828544 # Seafloor depth:-1136.828544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1136.557969 meters looking forward 0.000000 meters along route # Maximum depth: 1136.557969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.557969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796188; longitude = -121.859175; captureRadius = 10; duration = 109; initialDepth = 1087.601997; finalDepth = 1086.557969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.557969 # Seafloor depth:-1136.557969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.637980 meters # Minimum depth: 1137.601997 meters looking forward 0.000000 meters along route # Maximum depth: 1137.601997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1228.438114 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.601997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -121.858532; captureRadius = 10; duration = 109; initialDepth = 1091.011749; finalDepth = 1087.601997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.601997 # Seafloor depth:-1137.601997 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 50 # Sonar parameter altitude: 50 # Commanded vehicle depth:1091.011749 # Seafloor depth:-1141.011749 # 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 109.637980 meters # Minimum depth: 1141.011749 meters looking forward 0.000000 meters along route # Maximum depth: 1141.011749 meters looking forward 0.000000 meters along route # Vehicle depth: 1091.011749 meters behavior waypoint { latitude = 35.797822; longitude = -121.857871; captureRadius = 10; duration = 272; depth = 1091.011749; 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 1091.011749 meters set by local depth and desired altitude behavior descend { duration = 3283; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 1081.011749; minAltitude = 50.000000; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 109.637980 meters # Minimum depth: 1141.011749 meters looking forward 0.000000 meters along route # Maximum depth: 1141.011749 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 35.797822; longitude = -121.857871; captureRadius = 10; duration = 500; depth = 30.000000; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 212.368010; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 212.368010; 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 = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################