# 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_7v2.rte # Mission File: Lucia2008_7v2.cfg # Distance: 85647.547332 (m) # Estimated Time: 59887 (s) 16.635 (hr) # Abort Time: 61792 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1207 (s) # Way Points: 50 # Route Points: 804 # 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: 983.044079 (m) # Abort Vehicle Depth: 1008.044079 (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 -121.746863 35.733236 -948.317383 0.000000 3 # 1 -121.760406 35.716099 -960.438070 2261.523569 4 # 2 -121.762618 35.715823 -960.645426 2463.895773 3 # 3 -121.747692 35.734618 -950.200358 4947.771681 4 # 4 -121.748705 35.735816 -950.061361 5109.185507 3 # 5 -121.764552 35.715823 -964.384033 7749.876448 4 # 6 -121.766487 35.715823 -967.092204 7924.908163 3 # 7 -121.749811 35.736922 -954.630208 10709.309871 4 # 8 -121.750826 35.738240 -955.570435 10881.935198 3 # 9 -121.768422 35.715823 -969.076009 13834.329583 4 # 10 -121.770357 35.715823 -970.241699 14009.361131 3 # 11 -121.752219 35.738973 -958.487488 17056.696488 4 # 12 -121.753612 35.739707 -960.038910 17206.696488 3 # 13 -121.772476 35.715915 -974.035889 20349.376825 4 # 14 -121.774411 35.715915 -978.452962 20524.407995 3 # 15 -121.755006 35.740441 -963.568832 23762.010554 4 # 16 -121.756399 35.741174 -966.340164 23912.010554 3 # 17 -121.776346 35.715915 -978.856608 27244.535012 4 # 18 -121.778280 35.715915 -980.239421 27419.566015 3 # 19 -121.757792 35.741908 -968.392624 30847.011827 4 # 20 -121.759186 35.742641 -972.007431 30997.011827 3 # 21 -121.780193 35.716107 -983.815903 34500.380861 4 # 22 -121.781586 35.716840 -986.820007 34650.380861 3 # 23 -121.760579 35.743375 -972.125900 38153.749894 4 # 24 -121.761973 35.744108 -975.897125 38303.749894 3 # 25 -121.782979 35.717573 -987.854263 41807.118928 4 # 26 -121.784373 35.718307 -991.159149 41957.118928 3 # 27 -121.763366 35.744842 -978.274933 45460.487962 4 # 28 -121.764760 35.745575 -977.748917 45610.487962 3 # 29 -121.785766 35.719040 -994.255127 49113.856996 4 # 30 -121.787159 35.719773 -996.386414 49263.856996 3 # 31 -121.766153 35.746309 -982.811462 52767.226029 4 # 32 -121.767547 35.747042 -981.939606 52917.226029 3 # 33 -121.788552 35.720506 -998.039551 56420.595063 4 # 34 -121.789946 35.721239 -999.565292 56570.595063 3 # 35 -121.768940 35.747775 -985.657318 60073.964097 4 # 36 -121.770334 35.748509 -986.730774 60223.964097 3 # 37 -121.791339 35.721973 -1000.636795 63727.333130 4 # 38 -121.792733 35.722706 -1002.559357 63877.333130 3 # 39 -121.771728 35.749242 -989.550369 67380.702164 4 # 40 -121.773121 35.749976 -993.678970 67530.702164 3 # 41 -121.794126 35.723439 -1001.930847 71034.071198 4 # 42 -121.795519 35.724172 -1002.480225 71184.071198 3 # 43 -121.774515 35.750709 -995.776230 74687.440231 4 # 44 -121.775909 35.751442 -996.403244 74837.440231 3 # 45 -121.796913 35.724905 -1004.520432 78340.809265 4 # 46 -121.798306 35.725638 -1004.870346 78490.809265 3 # 47 -121.777303 35.752176 -999.577774 81994.178299 4 # 48 -121.778696 35.752909 -999.171707 82144.178299 3 # 49 -121.799700 35.726371 -1005.869781 85647.547332 4 # # A total of 804 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61792; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 983.044079; abortDepth = 1008.044079; 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 = 1207; 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 49 # Segment length 107.688650 meters # Minimum depth: 1005.869781 meters looking forward 0.000000 meters along route # Maximum depth: 1005.869781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.869781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726371; longitude = -121.799700; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 958.044079; finalDepth = 955.869781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:955.869781 # Seafloor depth:-1005.869781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 1008.044079 meters looking forward 0.000000 meters along route # Maximum depth: 1008.044079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.044079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727063; longitude = -121.799152; captureRadius = 10; duration = 107; initialDepth = 953.381899; finalDepth = 958.044079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:958.044079 # Seafloor depth:-1008.044079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 1003.381899 meters looking forward 0.000000 meters along route # Maximum depth: 1003.381899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.381899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727893; longitude = -121.798496; captureRadius = 10; duration = 107; initialDepth = 956.084731; finalDepth = 953.381899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:953.381899 # Seafloor depth:-1003.381899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 1006.084731 meters looking forward 0.000000 meters along route # Maximum depth: 1006.084731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.084731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728755; longitude = -121.797813; captureRadius = 10; duration = 107; initialDepth = 954.735934; finalDepth = 956.084731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:956.084731 # Seafloor depth:-1006.084731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 1004.735934 meters looking forward 0.000000 meters along route # Maximum depth: 1004.735934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.735934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729551; longitude = -121.797183; captureRadius = 10; duration = 107; initialDepth = 954.726833; finalDepth = 954.735934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:954.735934 # Seafloor depth:-1004.735934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 1004.726833 meters looking forward 0.000000 meters along route # Maximum depth: 1004.726833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.726833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730380; longitude = -121.796527; captureRadius = 10; duration = 107; initialDepth = 951.825606; finalDepth = 954.726833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:954.726833 # Seafloor depth:-1004.726833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 1001.825606 meters looking forward 0.000000 meters along route # Maximum depth: 1001.825606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.825606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731209; longitude = -121.795871; captureRadius = 10; duration = 107; initialDepth = 951.226402; finalDepth = 951.825606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.825606 # Seafloor depth:-1001.825606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 1001.226402 meters looking forward 0.000000 meters along route # Maximum depth: 1001.226402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.226402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.795214; captureRadius = 10; duration = 107; initialDepth = 949.739945; finalDepth = 951.226402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.226402 # Seafloor depth:-1001.226402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 999.739945 meters looking forward 0.000000 meters along route # Maximum depth: 999.739945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.739945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.794558; captureRadius = 10; duration = 107; initialDepth = 947.824679; finalDepth = 949.739945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.739945 # Seafloor depth:-999.739945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 997.824679 meters looking forward 0.000000 meters along route # Maximum depth: 997.824679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.824679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.793902; captureRadius = 10; duration = 107; initialDepth = 949.724005; finalDepth = 947.824679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:947.824679 # Seafloor depth:-997.824679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 999.724005 meters looking forward 0.000000 meters along route # Maximum depth: 999.724005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.724005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.793246; captureRadius = 10; duration = 107; initialDepth = 949.689754; finalDepth = 949.724005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.724005 # Seafloor depth:-999.724005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 999.689754 meters looking forward 0.000000 meters along route # Maximum depth: 999.689754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.689754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735391; longitude = -121.792561; captureRadius = 10; duration = 107; initialDepth = 951.433265; finalDepth = 949.689754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.689754 # Seafloor depth:-999.689754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 1001.433265 meters looking forward 0.000000 meters along route # Maximum depth: 1001.433265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.433265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.791933; captureRadius = 10; duration = 107; initialDepth = 949.307552; finalDepth = 951.433265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.433265 # Seafloor depth:-1001.433265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 999.307552 meters looking forward 0.000000 meters along route # Maximum depth: 999.307552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.307552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.791277; captureRadius = 10; duration = 107; initialDepth = 946.262392; finalDepth = 949.307552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.307552 # Seafloor depth:-999.307552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 996.262392 meters looking forward 0.000000 meters along route # Maximum depth: 996.262392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.262392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.790620; captureRadius = 10; duration = 107; initialDepth = 951.981967; finalDepth = 946.262392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.262392 # Seafloor depth:-996.262392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 1001.981967 meters looking forward 0.000000 meters along route # Maximum depth: 1001.981967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.981967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.789964; captureRadius = 10; duration = 107; initialDepth = 950.046920; finalDepth = 951.981967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.981967 # Seafloor depth:-1001.981967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 1000.046920 meters looking forward 0.000000 meters along route # Maximum depth: 1000.046920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.046920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.789308; captureRadius = 10; duration = 107; initialDepth = 947.726082; finalDepth = 950.046920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:950.04692 # Seafloor depth:-1000.046920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 997.726082 meters looking forward 0.000000 meters along route # Maximum depth: 997.726082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.726082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.788652; captureRadius = 10; duration = 107; initialDepth = 945.919510; finalDepth = 947.726082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:947.726082 # Seafloor depth:-997.726082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 995.919510 meters looking forward 0.000000 meters along route # Maximum depth: 995.919510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.919510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.787995; captureRadius = 10; duration = 107; initialDepth = 948.866746; finalDepth = 945.919510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.91951 # Seafloor depth:-995.919510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 998.866746 meters looking forward 0.000000 meters along route # Maximum depth: 998.866746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.866746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742026; longitude = -121.787310; captureRadius = 10; duration = 107; initialDepth = 946.543324; finalDepth = 948.866746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.866746 # Seafloor depth:-998.866746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 996.543324 meters looking forward 0.000000 meters along route # Maximum depth: 996.543324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.543324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.786683; captureRadius = 10; duration = 107; initialDepth = 942.416361; finalDepth = 946.543324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.543324 # Seafloor depth:-996.543324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 992.416361 meters looking forward 0.000000 meters along route # Maximum depth: 992.416361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.416361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.786026; captureRadius = 10; duration = 107; initialDepth = 946.634607; finalDepth = 942.416361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:942.416361 # Seafloor depth:-992.416361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 996.634607 meters looking forward 0.000000 meters along route # Maximum depth: 996.634607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.634607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.785370; captureRadius = 10; duration = 107; initialDepth = 951.707418; finalDepth = 946.634607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.634607 # Seafloor depth:-996.634607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 1001.707418 meters looking forward 0.000000 meters along route # Maximum depth: 1001.707418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.707418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.784714; captureRadius = 10; duration = 107; initialDepth = 954.094104; finalDepth = 951.707418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.707418 # Seafloor depth:-1001.707418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 1004.094104 meters looking forward 0.000000 meters along route # Maximum depth: 1004.094104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.094104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.784058; captureRadius = 10; duration = 107; initialDepth = 945.841019; finalDepth = 954.094104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:954.094104 # Seafloor depth:-1004.094104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 995.841019 meters looking forward 0.000000 meters along route # Maximum depth: 995.841019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.841019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746964; longitude = -121.783401; captureRadius = 10; duration = 107; initialDepth = 946.484002; finalDepth = 945.841019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.841019 # Seafloor depth:-995.841019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 996.484002 meters looking forward 0.000000 meters along route # Maximum depth: 996.484002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.484002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747794; longitude = -121.782745; captureRadius = 10; duration = 107; initialDepth = 948.890246; finalDepth = 946.484002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.484002 # Seafloor depth:-996.484002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 998.890246 meters looking forward 0.000000 meters along route # Maximum depth: 998.890246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.890246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748662; longitude = -121.782058; captureRadius = 10; duration = 107; initialDepth = 949.492078; finalDepth = 948.890246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.890246 # Seafloor depth:-998.890246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 999.492078 meters looking forward 0.000000 meters along route # Maximum depth: 999.492078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.492078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.781432; captureRadius = 10; duration = 107; initialDepth = 950.240986; finalDepth = 949.492078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.492078 # Seafloor depth:-999.492078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 1000.240986 meters looking forward 0.000000 meters along route # Maximum depth: 1000.240986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.240986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.780776; captureRadius = 10; duration = 107; initialDepth = 948.574922; finalDepth = 950.240986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:950.240986 # Seafloor depth:-1000.240986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 998.574922 meters looking forward 0.000000 meters along route # Maximum depth: 998.574922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.574922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.780120; captureRadius = 10; duration = 107; initialDepth = 948.884234; finalDepth = 948.574922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.574922 # Seafloor depth:-998.574922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.688650 meters # Minimum depth: 998.884234 meters looking forward 0.000000 meters along route # Maximum depth: 998.884234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.884234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.779464; captureRadius = 10; duration = 107; initialDepth = 949.171707; finalDepth = 948.884234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.884234 # Seafloor depth:-998.884234 # 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 48 # Segment length 107.688650 meters # Minimum depth: 999.171707 meters looking forward 0.000000 meters along route # Maximum depth: 999.171707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.171707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752909; longitude = -121.778696; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 946.935891; finalDepth = 949.171707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.171707 # Seafloor depth:-999.171707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 107.688650 meters # Minimum depth: 996.935891 meters looking forward 0.000000 meters along route # Maximum depth: 996.935891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.935891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752769; longitude = -121.778430; captureRadius = 10; duration = 107; initialDepth = 949.577774; finalDepth = 946.935891; 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:946.935891 # Seafloor depth:-996.935891 # 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 47 # Segment length 107.688650 meters # Minimum depth: 999.577774 meters looking forward 0.000000 meters along route # Maximum depth: 999.577774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.577774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752176; longitude = -121.777303; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 949.160429; finalDepth = 949.577774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.577774 # Seafloor depth:-999.577774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 999.160429 meters looking forward 0.000000 meters along route # Maximum depth: 999.160429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.160429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.777927; captureRadius = 10; duration = 107; initialDepth = 945.591030; finalDepth = 949.160429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.160429 # Seafloor depth:-999.160429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 995.591030 meters looking forward 0.000000 meters along route # Maximum depth: 995.591030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.591030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.778583; captureRadius = 10; duration = 107; initialDepth = 948.024207; finalDepth = 945.591030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.59103 # Seafloor depth:-995.591030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 998.024207 meters looking forward 0.000000 meters along route # Maximum depth: 998.024207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.024207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749660; longitude = -121.779294; captureRadius = 10; duration = 107; initialDepth = 949.766171; finalDepth = 948.024207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.024207 # Seafloor depth:-998.024207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 999.766171 meters looking forward 0.000000 meters along route # Maximum depth: 999.766171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.766171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.779896; captureRadius = 10; duration = 107; initialDepth = 945.870262; finalDepth = 949.766171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.766171 # Seafloor depth:-999.766171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 995.870262 meters looking forward 0.000000 meters along route # Maximum depth: 995.870262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.870262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.780552; captureRadius = 10; duration = 107; initialDepth = 943.507600; finalDepth = 945.870262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.870262 # Seafloor depth:-995.870262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 993.507600 meters looking forward 0.000000 meters along route # Maximum depth: 993.507600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.507600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747215; longitude = -121.781229; captureRadius = 10; duration = 107; initialDepth = 946.553498; finalDepth = 943.507600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:943.5076 # Seafloor depth:-993.507600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 996.553498 meters looking forward 0.000000 meters along route # Maximum depth: 996.553498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.553498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746412; longitude = -121.781865; captureRadius = 10; duration = 107; initialDepth = 942.708227; finalDepth = 946.553498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.553498 # Seafloor depth:-996.553498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 992.708227 meters looking forward 0.000000 meters along route # Maximum depth: 992.708227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.708227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.782521; captureRadius = 10; duration = 107; initialDepth = 952.350734; finalDepth = 942.708227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:942.708227 # Seafloor depth:-992.708227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 1002.350734 meters looking forward 0.000000 meters along route # Maximum depth: 1002.350734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.350734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744753; longitude = -121.783177; captureRadius = 10; duration = 107; initialDepth = 949.561268; finalDepth = 952.350734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:952.350734 # Seafloor depth:-1002.350734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 999.561268 meters looking forward 0.000000 meters along route # Maximum depth: 999.561268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.561268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.783834; captureRadius = 10; duration = 107; initialDepth = 946.946514; finalDepth = 949.561268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.561268 # Seafloor depth:-999.561268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 996.946514 meters looking forward 0.000000 meters along route # Maximum depth: 996.946514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.946514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743024; longitude = -121.784546; captureRadius = 10; duration = 107; initialDepth = 949.528518; finalDepth = 946.946514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.946514 # Seafloor depth:-996.946514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 999.528518 meters looking forward 0.000000 meters along route # Maximum depth: 999.528518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.528518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.785146; captureRadius = 10; duration = 107; initialDepth = 948.908972; finalDepth = 949.528518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.528518 # Seafloor depth:-999.528518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 998.908972 meters looking forward 0.000000 meters along route # Maximum depth: 998.908972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.908972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.785803; captureRadius = 10; duration = 107; initialDepth = 944.576482; finalDepth = 948.908972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.908972 # Seafloor depth:-998.908972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 994.576482 meters looking forward 0.000000 meters along route # Maximum depth: 994.576482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.576482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740580; longitude = -121.786480; captureRadius = 10; duration = 107; initialDepth = 943.229031; finalDepth = 944.576482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.576482 # Seafloor depth:-994.576482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 993.229031 meters looking forward 0.000000 meters along route # Maximum depth: 993.229031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.229031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.787115; captureRadius = 10; duration = 107; initialDepth = 941.378559; finalDepth = 943.229031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:943.229031 # Seafloor depth:-993.229031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 991.378559 meters looking forward 0.000000 meters along route # Maximum depth: 991.378559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.378559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.787771; captureRadius = 10; duration = 107; initialDepth = 949.763863; finalDepth = 941.378559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.378559 # Seafloor depth:-991.378559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 999.763863 meters looking forward 0.000000 meters along route # Maximum depth: 999.763863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.763863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.788428; captureRadius = 10; duration = 107; initialDepth = 946.364547; finalDepth = 949.763863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.763863 # Seafloor depth:-999.763863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 996.364547 meters looking forward 0.000000 meters along route # Maximum depth: 996.364547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.364547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.789084; captureRadius = 10; duration = 107; initialDepth = 945.903409; finalDepth = 946.364547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.364547 # Seafloor depth:-996.364547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 995.903409 meters looking forward 0.000000 meters along route # Maximum depth: 995.903409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.903409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.789740; captureRadius = 10; duration = 107; initialDepth = 949.660437; finalDepth = 945.903409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.903409 # Seafloor depth:-995.903409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 999.660437 meters looking forward 0.000000 meters along route # Maximum depth: 999.660437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.660437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.790397; captureRadius = 10; duration = 107; initialDepth = 948.970413; finalDepth = 949.660437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.660437 # Seafloor depth:-999.660437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 998.970413 meters looking forward 0.000000 meters along route # Maximum depth: 998.970413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.970413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.791053; captureRadius = 10; duration = 107; initialDepth = 948.853706; finalDepth = 948.970413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.970413 # Seafloor depth:-998.970413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 998.853706 meters looking forward 0.000000 meters along route # Maximum depth: 998.853706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.853706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733945; longitude = -121.791732; captureRadius = 10; duration = 107; initialDepth = 948.359345; finalDepth = 948.853706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.853706 # Seafloor depth:-998.853706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 998.359345 meters looking forward 0.000000 meters along route # Maximum depth: 998.359345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.359345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733144; longitude = -121.792366; captureRadius = 10; duration = 107; initialDepth = 947.617193; finalDepth = 948.359345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.359345 # Seafloor depth:-998.359345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 997.617193 meters looking forward 0.000000 meters along route # Maximum depth: 997.617193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.617193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.793022; captureRadius = 10; duration = 107; initialDepth = 948.928646; finalDepth = 947.617193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:947.617193 # Seafloor depth:-997.617193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 998.928646 meters looking forward 0.000000 meters along route # Maximum depth: 998.928646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.928646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.793678; captureRadius = 10; duration = 107; initialDepth = 952.776295; finalDepth = 948.928646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.928646 # Seafloor depth:-998.928646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 1002.776295 meters looking forward 0.000000 meters along route # Maximum depth: 1002.776295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.776295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.794335; captureRadius = 10; duration = 107; initialDepth = 950.693459; finalDepth = 952.776295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:952.776295 # Seafloor depth:-1002.776295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 1000.693459 meters looking forward 0.000000 meters along route # Maximum depth: 1000.693459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.693459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.794991; captureRadius = 10; duration = 107; initialDepth = 953.687904; finalDepth = 950.693459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:950.693459 # Seafloor depth:-1000.693459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 1003.687904 meters looking forward 0.000000 meters along route # Maximum depth: 1003.687904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.687904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728998; longitude = -121.795647; captureRadius = 10; duration = 107; initialDepth = 954.890142; finalDepth = 953.687904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:953.687904 # Seafloor depth:-1003.687904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 1004.890142 meters looking forward 0.000000 meters along route # Maximum depth: 1004.890142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.890142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728169; longitude = -121.796303; captureRadius = 10; duration = 107; initialDepth = 954.036933; finalDepth = 954.890142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:954.890142 # Seafloor depth:-1004.890142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 1004.036933 meters looking forward 0.000000 meters along route # Maximum depth: 1004.036933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.036933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727309; longitude = -121.796984; captureRadius = 10; duration = 107; initialDepth = 954.270274; finalDepth = 954.036933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:954.036933 # Seafloor depth:-1004.036933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 107.688650 meters # Minimum depth: 1004.270274 meters looking forward 0.000000 meters along route # Maximum depth: 1004.270274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.270274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726511; longitude = -121.797616; captureRadius = 10; duration = 107; initialDepth = 954.870346; finalDepth = 954.270274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:954.270274 # Seafloor depth:-1004.270274 # 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 46 # Segment length 107.688650 meters # Minimum depth: 1004.870346 meters looking forward 0.000000 meters along route # Maximum depth: 1004.870346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.870346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725638; longitude = -121.798306; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 956.751253; finalDepth = 954.870346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:954.870346 # Seafloor depth:-1004.870346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 107.688650 meters # Minimum depth: 1006.751253 meters looking forward 0.000000 meters along route # Maximum depth: 1006.751253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.751253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725405; longitude = -121.797863; captureRadius = 10; duration = 107; initialDepth = 954.520432; finalDepth = 956.751253; 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:956.751253 # Seafloor depth:-1006.751253 # 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 45 # Segment length 107.688650 meters # Minimum depth: 1004.520432 meters looking forward 0.000000 meters along route # Maximum depth: 1004.520432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.520432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724905; longitude = -121.796913; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 952.942101; finalDepth = 954.520432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:954.520432 # Seafloor depth:-1004.520432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 1002.942101 meters looking forward 0.000000 meters along route # Maximum depth: 1002.942101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.942101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725681; longitude = -121.796299; captureRadius = 10; duration = 107; initialDepth = 951.584576; finalDepth = 952.942101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:952.942101 # Seafloor depth:-1002.942101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 1001.584576 meters looking forward 0.000000 meters along route # Maximum depth: 1001.584576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.584576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726562; longitude = -121.795602; captureRadius = 10; duration = 107; initialDepth = 952.392587; finalDepth = 951.584576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.584576 # Seafloor depth:-1001.584576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 1002.392587 meters looking forward 0.000000 meters along route # Maximum depth: 1002.392587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.392587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.794986; captureRadius = 10; duration = 107; initialDepth = 949.572610; finalDepth = 952.392587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:952.392587 # Seafloor depth:-1002.392587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 999.572610 meters looking forward 0.000000 meters along route # Maximum depth: 999.572610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.572610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728169; longitude = -121.794330; captureRadius = 10; duration = 107; initialDepth = 949.209437; finalDepth = 949.572610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.57261 # Seafloor depth:-999.572610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 999.209437 meters looking forward 0.000000 meters along route # Maximum depth: 999.209437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.209437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729006; longitude = -121.793667; captureRadius = 10; duration = 107; initialDepth = 945.218949; finalDepth = 949.209437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.209437 # Seafloor depth:-999.209437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 995.218949 meters looking forward 0.000000 meters along route # Maximum depth: 995.218949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.218949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.793017; captureRadius = 10; duration = 107; initialDepth = 946.202581; finalDepth = 945.218949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.218949 # Seafloor depth:-995.218949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 996.202581 meters looking forward 0.000000 meters along route # Maximum depth: 996.202581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.202581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.792361; captureRadius = 10; duration = 107; initialDepth = 946.121828; finalDepth = 946.202581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.202581 # Seafloor depth:-996.202581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 996.121828 meters looking forward 0.000000 meters along route # Maximum depth: 996.121828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.121828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.791704; captureRadius = 10; duration = 107; initialDepth = 945.999966; finalDepth = 946.121828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.121828 # Seafloor depth:-996.121828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 995.999966 meters looking forward 0.000000 meters along route # Maximum depth: 995.999966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.999966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.791048; captureRadius = 10; duration = 107; initialDepth = 948.784243; finalDepth = 945.999966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.999966 # Seafloor depth:-995.999966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 998.784243 meters looking forward 0.000000 meters along route # Maximum depth: 998.784243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.784243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733197; longitude = -121.790350; captureRadius = 10; duration = 107; initialDepth = 950.182400; finalDepth = 948.784243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.784243 # Seafloor depth:-998.784243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 1000.182400 meters looking forward 0.000000 meters along route # Maximum depth: 1000.182400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.182400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.789735; captureRadius = 10; duration = 107; initialDepth = 944.876151; finalDepth = 950.182400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:950.1824 # Seafloor depth:-1000.182400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.876151 meters looking forward 0.000000 meters along route # Maximum depth: 994.876151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.876151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.789079; captureRadius = 10; duration = 107; initialDepth = 942.143193; finalDepth = 944.876151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.876151 # Seafloor depth:-994.876151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 992.143193 meters looking forward 0.000000 meters along route # Maximum depth: 992.143193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.143193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735641; longitude = -121.788415; captureRadius = 10; duration = 107; initialDepth = 942.347446; finalDepth = 942.143193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:942.143193 # Seafloor depth:-992.143193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 992.347446 meters looking forward 0.000000 meters along route # Maximum depth: 992.347446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.347446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.787766; captureRadius = 10; duration = 107; initialDepth = 951.049609; finalDepth = 942.347446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:942.347446 # Seafloor depth:-992.347446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 1001.049609 meters looking forward 0.000000 meters along route # Maximum depth: 1001.049609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.049609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.787110; captureRadius = 10; duration = 107; initialDepth = 940.710008; finalDepth = 951.049609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.049609 # Seafloor depth:-1001.049609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.710008 meters looking forward 0.000000 meters along route # Maximum depth: 990.710008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.710008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.786454; captureRadius = 10; duration = 107; initialDepth = 940.823760; finalDepth = 940.710008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.710008 # Seafloor depth:-990.710008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.823760 meters looking forward 0.000000 meters along route # Maximum depth: 990.823760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.823760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.785798; captureRadius = 10; duration = 107; initialDepth = 940.345501; finalDepth = 940.823760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.82376 # Seafloor depth:-990.823760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.345501 meters looking forward 0.000000 meters along route # Maximum depth: 990.345501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.345501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739832; longitude = -121.785098; captureRadius = 10; duration = 107; initialDepth = 946.973476; finalDepth = 940.345501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.345501 # Seafloor depth:-990.345501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 996.973476 meters looking forward 0.000000 meters along route # Maximum depth: 996.973476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.973476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.784485; captureRadius = 10; duration = 107; initialDepth = 944.956041; finalDepth = 946.973476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.973476 # Seafloor depth:-996.973476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.956041 meters looking forward 0.000000 meters along route # Maximum depth: 994.956041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.956041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.783829; captureRadius = 10; duration = 107; initialDepth = 944.443796; finalDepth = 944.956041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.956041 # Seafloor depth:-994.956041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.443796 meters looking forward 0.000000 meters along route # Maximum depth: 994.443796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.443796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742276; longitude = -121.783164; captureRadius = 10; duration = 107; initialDepth = 941.448399; finalDepth = 944.443796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.443796 # Seafloor depth:-994.443796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 991.448399 meters looking forward 0.000000 meters along route # Maximum depth: 991.448399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.448399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.782516; captureRadius = 10; duration = 107; initialDepth = 941.165892; finalDepth = 941.448399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.448399 # Seafloor depth:-991.448399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 991.165892 meters looking forward 0.000000 meters along route # Maximum depth: 991.165892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.165892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.781860; captureRadius = 10; duration = 107; initialDepth = 942.599631; finalDepth = 941.165892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.165892 # Seafloor depth:-991.165892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 992.599631 meters looking forward 0.000000 meters along route # Maximum depth: 992.599631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.599631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744753; longitude = -121.781203; captureRadius = 10; duration = 107; initialDepth = 942.438614; finalDepth = 942.599631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:942.599631 # Seafloor depth:-992.599631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 992.438614 meters looking forward 0.000000 meters along route # Maximum depth: 992.438614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.438614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.780547; captureRadius = 10; duration = 107; initialDepth = 944.047616; finalDepth = 942.438614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:942.438614 # Seafloor depth:-992.438614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.047616 meters looking forward 0.000000 meters along route # Maximum depth: 994.047616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.047616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746467; longitude = -121.779847; captureRadius = 10; duration = 107; initialDepth = 943.062867; finalDepth = 944.047616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.047616 # Seafloor depth:-994.047616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 993.062867 meters looking forward 0.000000 meters along route # Maximum depth: 993.062867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.062867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.779234; captureRadius = 10; duration = 107; initialDepth = 944.021773; finalDepth = 943.062867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:943.062867 # Seafloor depth:-993.062867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.021773 meters looking forward 0.000000 meters along route # Maximum depth: 994.021773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.021773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.778578; captureRadius = 10; duration = 107; initialDepth = 943.021548; finalDepth = 944.021773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.021773 # Seafloor depth:-994.021773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 993.021548 meters looking forward 0.000000 meters along route # Maximum depth: 993.021548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.021548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748912; longitude = -121.777912; captureRadius = 10; duration = 107; initialDepth = 945.515680; finalDepth = 943.021548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:943.021548 # Seafloor depth:-993.021548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 995.515680 meters looking forward 0.000000 meters along route # Maximum depth: 995.515680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.515680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749728; longitude = -121.777265; captureRadius = 10; duration = 107; initialDepth = 947.638349; finalDepth = 945.515680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.51568 # Seafloor depth:-995.515680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 997.638349 meters looking forward 0.000000 meters along route # Maximum depth: 997.638349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.638349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750658; longitude = -121.776530; captureRadius = 10; duration = 107; initialDepth = 946.403244; finalDepth = 947.638349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:947.638349 # Seafloor depth:-997.638349 # 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 107.688650 meters # Minimum depth: 996.403244 meters looking forward 0.000000 meters along route # Maximum depth: 996.403244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.403244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751442; longitude = -121.775909; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 945.016498; finalDepth = 946.403244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.403244 # Seafloor depth:-996.403244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 995.016498 meters looking forward 0.000000 meters along route # Maximum depth: 995.016498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.016498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751333; longitude = -121.775701; captureRadius = 10; duration = 107; initialDepth = 945.776230; finalDepth = 945.016498; 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:945.016498 # Seafloor depth:-995.016498 # 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 107.688650 meters # Minimum depth: 995.776230 meters looking forward 0.000000 meters along route # Maximum depth: 995.776230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.776230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750709; longitude = -121.774515; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 944.073435; finalDepth = 945.776230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.77623 # Seafloor depth:-995.776230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.073435 meters looking forward 0.000000 meters along route # Maximum depth: 994.073435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.073435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.775072; captureRadius = 10; duration = 107; initialDepth = 944.960752; finalDepth = 944.073435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.073435 # Seafloor depth:-994.073435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.960752 meters looking forward 0.000000 meters along route # Maximum depth: 994.960752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.960752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.775729; captureRadius = 10; duration = 107; initialDepth = 941.180402; finalDepth = 944.960752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.960752 # Seafloor depth:-994.960752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 991.180402 meters looking forward 0.000000 meters along route # Maximum depth: 991.180402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.180402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.776385; captureRadius = 10; duration = 107; initialDepth = 938.136890; finalDepth = 941.180402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.180402 # Seafloor depth:-991.180402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.136890 meters looking forward 0.000000 meters along route # Maximum depth: 988.136890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.136890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747465; longitude = -121.777083; captureRadius = 10; duration = 107; initialDepth = 940.408084; finalDepth = 938.136890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.13689 # Seafloor depth:-988.136890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.408084 meters looking forward 0.000000 meters along route # Maximum depth: 990.408084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.408084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.777698; captureRadius = 10; duration = 107; initialDepth = 941.408441; finalDepth = 940.408084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.408084 # Seafloor depth:-990.408084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 991.408441 meters looking forward 0.000000 meters along route # Maximum depth: 991.408441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.408441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.778354; captureRadius = 10; duration = 107; initialDepth = 942.660450; finalDepth = 941.408441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.408441 # Seafloor depth:-991.408441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 992.660450 meters looking forward 0.000000 meters along route # Maximum depth: 992.660450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.660450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745021; longitude = -121.779018; captureRadius = 10; duration = 107; initialDepth = 941.968935; finalDepth = 942.660450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:942.66045 # Seafloor depth:-992.660450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 991.968935 meters looking forward 0.000000 meters along route # Maximum depth: 991.968935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.968935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.779667; captureRadius = 10; duration = 107; initialDepth = 939.979039; finalDepth = 941.968935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.968935 # Seafloor depth:-991.968935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 989.979039 meters looking forward 0.000000 meters along route # Maximum depth: 989.979039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.979039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.780323; captureRadius = 10; duration = 107; initialDepth = 937.939372; finalDepth = 939.979039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.979039 # Seafloor depth:-989.979039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 987.939372 meters looking forward 0.000000 meters along route # Maximum depth: 987.939372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.939372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.780979; captureRadius = 10; duration = 107; initialDepth = 939.458596; finalDepth = 937.939372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.939372 # Seafloor depth:-987.939372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 989.458596 meters looking forward 0.000000 meters along route # Maximum depth: 989.458596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.458596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.781636; captureRadius = 10; duration = 107; initialDepth = 941.594530; finalDepth = 939.458596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.458596 # Seafloor depth:-989.458596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 991.594530 meters looking forward 0.000000 meters along route # Maximum depth: 991.594530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.594530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740830; longitude = -121.782334; captureRadius = 10; duration = 107; initialDepth = 946.095777; finalDepth = 941.594530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.59453 # Seafloor depth:-991.594530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 996.095777 meters looking forward 0.000000 meters along route # Maximum depth: 996.095777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.095777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.782948; captureRadius = 10; duration = 107; initialDepth = 937.512850; finalDepth = 946.095777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.095777 # Seafloor depth:-996.095777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 987.512850 meters looking forward 0.000000 meters along route # Maximum depth: 987.512850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.512850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.783605; captureRadius = 10; duration = 107; initialDepth = 940.372165; finalDepth = 937.512850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.51285 # Seafloor depth:-987.512850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.372165 meters looking forward 0.000000 meters along route # Maximum depth: 990.372165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.372165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738386; longitude = -121.784269; captureRadius = 10; duration = 107; initialDepth = 940.205613; finalDepth = 940.372165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.372165 # Seafloor depth:-990.372165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.205613 meters looking forward 0.000000 meters along route # Maximum depth: 990.205613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.205613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.784917; captureRadius = 10; duration = 107; initialDepth = 949.279199; finalDepth = 940.205613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.205613 # Seafloor depth:-990.205613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 999.279199 meters looking forward 0.000000 meters along route # Maximum depth: 999.279199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.279199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.785574; captureRadius = 10; duration = 107; initialDepth = 940.233557; finalDepth = 949.279199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.279199 # Seafloor depth:-999.279199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.233557 meters looking forward 0.000000 meters along route # Maximum depth: 990.233557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.233557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.786230; captureRadius = 10; duration = 107; initialDepth = 939.258867; finalDepth = 940.233557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.233557 # Seafloor depth:-990.233557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 989.258867 meters looking forward 0.000000 meters along route # Maximum depth: 989.258867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.258867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.786886; captureRadius = 10; duration = 107; initialDepth = 944.754721; finalDepth = 939.258867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.258867 # Seafloor depth:-989.258867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.754721 meters looking forward 0.000000 meters along route # Maximum depth: 994.754721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.754721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734195; longitude = -121.787586; captureRadius = 10; duration = 107; initialDepth = 941.858850; finalDepth = 944.754721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.754721 # Seafloor depth:-994.754721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 991.858850 meters looking forward 0.000000 meters along route # Maximum depth: 991.858850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.858850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.788199; captureRadius = 10; duration = 107; initialDepth = 944.318481; finalDepth = 941.858850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.85885 # Seafloor depth:-991.858850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.318481 meters looking forward 0.000000 meters along route # Maximum depth: 994.318481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.318481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.788855; captureRadius = 10; duration = 107; initialDepth = 946.958445; finalDepth = 944.318481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.318481 # Seafloor depth:-994.318481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 996.958445 meters looking forward 0.000000 meters along route # Maximum depth: 996.958445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.958445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731751; longitude = -121.789521; captureRadius = 10; duration = 107; initialDepth = 948.692508; finalDepth = 946.958445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.958445 # Seafloor depth:-996.958445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 998.692508 meters looking forward 0.000000 meters along route # Maximum depth: 998.692508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.692508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.790168; captureRadius = 10; duration = 107; initialDepth = 944.996641; finalDepth = 948.692508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.692508 # Seafloor depth:-998.692508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.996641 meters looking forward 0.000000 meters along route # Maximum depth: 994.996641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.996641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.790824; captureRadius = 10; duration = 107; initialDepth = 946.178491; finalDepth = 944.996641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.996641 # Seafloor depth:-994.996641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 996.178491 meters looking forward 0.000000 meters along route # Maximum depth: 996.178491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.178491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.791481; captureRadius = 10; duration = 107; initialDepth = 947.502817; finalDepth = 946.178491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.178491 # Seafloor depth:-996.178491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 997.502817 meters looking forward 0.000000 meters along route # Maximum depth: 997.502817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.502817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.792137; captureRadius = 10; duration = 107; initialDepth = 949.150786; finalDepth = 947.502817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:947.502817 # Seafloor depth:-997.502817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 999.150786 meters looking forward 0.000000 meters along route # Maximum depth: 999.150786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.150786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727560; longitude = -121.792838; captureRadius = 10; duration = 107; initialDepth = 950.539963; finalDepth = 949.150786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.150786 # Seafloor depth:-999.150786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 1000.539963 meters looking forward 0.000000 meters along route # Maximum depth: 1000.539963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.539963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726787; longitude = -121.793450; captureRadius = 10; duration = 107; initialDepth = 950.711757; finalDepth = 950.539963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:950.539963 # Seafloor depth:-1000.539963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 1000.711757 meters looking forward 0.000000 meters along route # Maximum depth: 1000.711757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.711757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725958; longitude = -121.794106; captureRadius = 10; duration = 107; initialDepth = 949.971934; finalDepth = 950.711757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:950.711757 # Seafloor depth:-1000.711757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 999.971934 meters looking forward 0.000000 meters along route # Maximum depth: 999.971934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.971934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725116; longitude = -121.794773; captureRadius = 10; duration = 107; initialDepth = 952.480225; finalDepth = 949.971934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.971934 # Seafloor depth:-999.971934 # 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 107.688650 meters # Minimum depth: 1002.480225 meters looking forward 0.000000 meters along route # Maximum depth: 1002.480225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.480225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724172; longitude = -121.795519; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 952.641743; finalDepth = 952.480225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:952.480225 # Seafloor depth:-1002.480225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 1002.641743 meters looking forward 0.000000 meters along route # Maximum depth: 1002.641743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.641743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724023; longitude = -121.795236; captureRadius = 10; duration = 107; initialDepth = 951.930847; finalDepth = 952.641743; 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:952.641743 # Seafloor depth:-1002.641743 # 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 107.688650 meters # Minimum depth: 1001.930847 meters looking forward 0.000000 meters along route # Maximum depth: 1001.930847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.930847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723439; longitude = -121.794126; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 951.567084; finalDepth = 951.930847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.930847 # Seafloor depth:-1001.930847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 1001.567084 meters looking forward 0.000000 meters along route # Maximum depth: 1001.567084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.567084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723470; longitude = -121.794101; captureRadius = 10; duration = 107; initialDepth = 953.928803; finalDepth = 951.567084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.567084 # Seafloor depth:-1001.567084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 1003.928803 meters looking forward 0.000000 meters along route # Maximum depth: 1003.928803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.928803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724368; longitude = -121.793391; captureRadius = 10; duration = 107; initialDepth = 951.071205; finalDepth = 953.928803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:953.928803 # Seafloor depth:-1003.928803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 1001.071205 meters looking forward 0.000000 meters along route # Maximum depth: 1001.071205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.071205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725128; longitude = -121.792789; captureRadius = 10; duration = 107; initialDepth = 948.535891; finalDepth = 951.071205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.071205 # Seafloor depth:-1001.071205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 998.535891 meters looking forward 0.000000 meters along route # Maximum depth: 998.535891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.535891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725958; longitude = -121.792132; captureRadius = 10; duration = 107; initialDepth = 947.932000; finalDepth = 948.535891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.535891 # Seafloor depth:-998.535891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 997.932000 meters looking forward 0.000000 meters along route # Maximum depth: 997.932000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.932000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726812; longitude = -121.791456; captureRadius = 10; duration = 107; initialDepth = 946.353450; finalDepth = 947.932000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:947.932 # Seafloor depth:-997.932000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 996.353450 meters looking forward 0.000000 meters along route # Maximum depth: 996.353450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.353450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727616; longitude = -121.790820; captureRadius = 10; duration = 107; initialDepth = 943.260626; finalDepth = 946.353450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.35345 # Seafloor depth:-996.353450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 993.260626 meters looking forward 0.000000 meters along route # Maximum depth: 993.260626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.260626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.790163; captureRadius = 10; duration = 107; initialDepth = 944.023521; finalDepth = 943.260626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:943.260626 # Seafloor depth:-993.260626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.023521 meters looking forward 0.000000 meters along route # Maximum depth: 994.023521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.023521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.789507; captureRadius = 10; duration = 107; initialDepth = 945.322558; finalDepth = 944.023521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.023521 # Seafloor depth:-994.023521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 995.322558 meters looking forward 0.000000 meters along route # Maximum depth: 995.322558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.322558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.788851; captureRadius = 10; duration = 107; initialDepth = 946.806055; finalDepth = 945.322558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.322558 # Seafloor depth:-995.322558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 996.806055 meters looking forward 0.000000 meters along route # Maximum depth: 996.806055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.806055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731003; longitude = -121.788139; captureRadius = 10; duration = 107; initialDepth = 940.582237; finalDepth = 946.806055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.806055 # Seafloor depth:-996.806055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.582237 meters looking forward 0.000000 meters along route # Maximum depth: 990.582237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.582237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.787538; captureRadius = 10; duration = 107; initialDepth = 940.438292; finalDepth = 940.582237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.582237 # Seafloor depth:-990.582237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.438292 meters looking forward 0.000000 meters along route # Maximum depth: 990.438292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.438292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.786882; captureRadius = 10; duration = 107; initialDepth = 939.590342; finalDepth = 940.438292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.438292 # Seafloor depth:-990.438292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 989.590342 meters looking forward 0.000000 meters along route # Maximum depth: 989.590342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.590342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733447; longitude = -121.786204; captureRadius = 10; duration = 107; initialDepth = 935.129367; finalDepth = 939.590342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.590342 # Seafloor depth:-989.590342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.129367 meters looking forward 0.000000 meters along route # Maximum depth: 985.129367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.129367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.785569; captureRadius = 10; duration = 107; initialDepth = 938.035931; finalDepth = 935.129367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.129367 # Seafloor depth:-985.129367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.035931 meters looking forward 0.000000 meters along route # Maximum depth: 988.035931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.035931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.784913; captureRadius = 10; duration = 107; initialDepth = 949.853711; finalDepth = 938.035931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.035931 # Seafloor depth:-988.035931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 999.853711 meters looking forward 0.000000 meters along route # Maximum depth: 999.853711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.853711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.784256; captureRadius = 10; duration = 107; initialDepth = 937.629052; finalDepth = 949.853711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.853711 # Seafloor depth:-999.853711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 987.629052 meters looking forward 0.000000 meters along route # Maximum depth: 987.629052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.629052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.783600; captureRadius = 10; duration = 107; initialDepth = 935.141063; finalDepth = 937.629052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.629052 # Seafloor depth:-987.629052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.141063 meters looking forward 0.000000 meters along route # Maximum depth: 985.141063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.141063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737638; longitude = -121.782887; captureRadius = 10; duration = 107; initialDepth = 933.653008; finalDepth = 935.141063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.141063 # Seafloor depth:-985.141063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.653008 meters looking forward 0.000000 meters along route # Maximum depth: 983.653008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.653008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.782287; captureRadius = 10; duration = 107; initialDepth = 945.156824; finalDepth = 933.653008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.653008 # Seafloor depth:-983.653008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 995.156824 meters looking forward 0.000000 meters along route # Maximum depth: 995.156824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.156824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.781631; captureRadius = 10; duration = 107; initialDepth = 940.312740; finalDepth = 945.156824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.156824 # Seafloor depth:-995.156824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.312740 meters looking forward 0.000000 meters along route # Maximum depth: 990.312740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.312740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740082; longitude = -121.780952; captureRadius = 10; duration = 107; initialDepth = 935.328179; finalDepth = 940.312740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.31274 # Seafloor depth:-990.312740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.328179 meters looking forward 0.000000 meters along route # Maximum depth: 985.328179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.328179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.780318; captureRadius = 10; duration = 107; initialDepth = 936.394480; finalDepth = 935.328179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.328179 # Seafloor depth:-985.328179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.394480 meters looking forward 0.000000 meters along route # Maximum depth: 986.394480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.394480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.779662; captureRadius = 10; duration = 107; initialDepth = 937.821792; finalDepth = 936.394480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.39448 # Seafloor depth:-986.394480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 987.821792 meters looking forward 0.000000 meters along route # Maximum depth: 987.821792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.821792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.779005; captureRadius = 10; duration = 107; initialDepth = 938.610707; finalDepth = 937.821792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.821792 # Seafloor depth:-987.821792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.610707 meters looking forward 0.000000 meters along route # Maximum depth: 988.610707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.610707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.778349; captureRadius = 10; duration = 107; initialDepth = 940.723597; finalDepth = 938.610707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.610707 # Seafloor depth:-988.610707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.723597 meters looking forward 0.000000 meters along route # Maximum depth: 990.723597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.723597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.777693; captureRadius = 10; duration = 107; initialDepth = 938.852867; finalDepth = 940.723597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.723597 # Seafloor depth:-990.723597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.852867 meters looking forward 0.000000 meters along route # Maximum depth: 988.852867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.852867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.777036; captureRadius = 10; duration = 107; initialDepth = 938.587757; finalDepth = 938.852867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.852867 # Seafloor depth:-988.852867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.587757 meters looking forward 0.000000 meters along route # Maximum depth: 988.587757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.587757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.776380; captureRadius = 10; duration = 107; initialDepth = 940.133001; finalDepth = 938.587757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.587757 # Seafloor depth:-988.587757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.133001 meters looking forward 0.000000 meters along route # Maximum depth: 990.133001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.133001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746717; longitude = -121.775701; captureRadius = 10; duration = 107; initialDepth = 938.932177; finalDepth = 940.133001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.133001 # Seafloor depth:-990.133001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.932177 meters looking forward 0.000000 meters along route # Maximum depth: 988.932177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.932177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.775067; captureRadius = 10; duration = 107; initialDepth = 939.920235; finalDepth = 938.932177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.932177 # Seafloor depth:-988.932177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 989.920235 meters looking forward 0.000000 meters along route # Maximum depth: 989.920235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.920235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.774411; captureRadius = 10; duration = 107; initialDepth = 941.391533; finalDepth = 939.920235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.920235 # Seafloor depth:-989.920235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 991.391533 meters looking forward 0.000000 meters along route # Maximum depth: 991.391533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.391533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.773755; captureRadius = 10; duration = 107; initialDepth = 943.678970; finalDepth = 941.391533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.391533 # Seafloor depth:-991.391533 # 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 107.688650 meters # Minimum depth: 993.678970 meters looking forward 0.000000 meters along route # Maximum depth: 993.678970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.678970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749976; longitude = -121.773121; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 944.991351; finalDepth = 943.678970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:943.67897 # Seafloor depth:-993.678970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.991351 meters looking forward 0.000000 meters along route # Maximum depth: 994.991351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.991351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749733; longitude = -121.772660; captureRadius = 10; duration = 107; initialDepth = 939.550369; finalDepth = 944.991351; 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:944.991351 # Seafloor depth:-994.991351 # 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 107.688650 meters # Minimum depth: 989.550369 meters looking forward 0.000000 meters along route # Maximum depth: 989.550369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.550369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749242; longitude = -121.771728; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 938.627250; finalDepth = 939.550369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.550369 # Seafloor depth:-989.550369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.627250 meters looking forward 0.000000 meters along route # Maximum depth: 988.627250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.627250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749112; longitude = -121.771831; captureRadius = 10; duration = 107; initialDepth = 938.849272; finalDepth = 938.627250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.62725 # Seafloor depth:-988.627250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.849272 meters looking forward 0.000000 meters along route # Maximum depth: 988.849272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.849272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.772437; captureRadius = 10; duration = 107; initialDepth = 937.197784; finalDepth = 938.849272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.849272 # Seafloor depth:-988.849272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 987.197784 meters looking forward 0.000000 meters along route # Maximum depth: 987.197784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.197784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.773093; captureRadius = 10; duration = 107; initialDepth = 936.351781; finalDepth = 937.197784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.197784 # Seafloor depth:-987.197784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.351781 meters looking forward 0.000000 meters along route # Maximum depth: 986.351781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.351781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746667; longitude = -121.773766; captureRadius = 10; duration = 107; initialDepth = 938.239113; finalDepth = 936.351781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.351781 # Seafloor depth:-986.351781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.239113 meters looking forward 0.000000 meters along route # Maximum depth: 988.239113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.239113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.774406; captureRadius = 10; duration = 107; initialDepth = 936.585201; finalDepth = 938.239113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.239113 # Seafloor depth:-988.239113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.585201 meters looking forward 0.000000 meters along route # Maximum depth: 986.585201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.585201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.775062; captureRadius = 10; duration = 107; initialDepth = 937.109354; finalDepth = 936.585201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.585201 # Seafloor depth:-986.585201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 987.109354 meters looking forward 0.000000 meters along route # Maximum depth: 987.109354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.109354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.775719; captureRadius = 10; duration = 107; initialDepth = 936.298378; finalDepth = 937.109354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.109354 # Seafloor depth:-987.109354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.298378 meters looking forward 0.000000 meters along route # Maximum depth: 986.298378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.298378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.776375; captureRadius = 10; duration = 107; initialDepth = 936.649050; finalDepth = 936.298378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.298378 # Seafloor depth:-986.298378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.649050 meters looking forward 0.000000 meters along route # Maximum depth: 986.649050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.649050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742477; longitude = -121.777083; captureRadius = 10; duration = 107; initialDepth = 933.501168; finalDepth = 936.649050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.64905 # Seafloor depth:-986.649050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.501168 meters looking forward 0.000000 meters along route # Maximum depth: 983.501168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.501168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.777688; captureRadius = 10; duration = 107; initialDepth = 933.842649; finalDepth = 933.501168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.501168 # Seafloor depth:-983.501168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.842649 meters looking forward 0.000000 meters along route # Maximum depth: 983.842649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.842649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.778344; captureRadius = 10; duration = 107; initialDepth = 933.045151; finalDepth = 933.842649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.842649 # Seafloor depth:-983.842649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.045151 meters looking forward 0.000000 meters along route # Maximum depth: 983.045151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.045151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740033; longitude = -121.779018; captureRadius = 10; duration = 107; initialDepth = 943.003931; finalDepth = 933.045151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.045151 # Seafloor depth:-983.045151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 993.003931 meters looking forward 0.000000 meters along route # Maximum depth: 993.003931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.003931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.779657; captureRadius = 10; duration = 107; initialDepth = 943.449811; finalDepth = 943.003931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:943.003931 # Seafloor depth:-993.003931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 993.449811 meters looking forward 0.000000 meters along route # Maximum depth: 993.449811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.449811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.780313; captureRadius = 10; duration = 107; initialDepth = 930.302931; finalDepth = 943.449811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:943.449811 # Seafloor depth:-993.449811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.302931 meters looking forward 0.000000 meters along route # Maximum depth: 980.302931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.302931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.780969; captureRadius = 10; duration = 107; initialDepth = 932.356491; finalDepth = 930.302931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.302931 # Seafloor depth:-980.302931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 982.356491 meters looking forward 0.000000 meters along route # Maximum depth: 982.356491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.356491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.781626; captureRadius = 10; duration = 107; initialDepth = 938.554967; finalDepth = 932.356491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.356491 # Seafloor depth:-982.356491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.554967 meters looking forward 0.000000 meters along route # Maximum depth: 988.554967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.554967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735842; longitude = -121.782334; captureRadius = 10; duration = 107; initialDepth = 951.333289; finalDepth = 938.554967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.554967 # Seafloor depth:-988.554967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 1001.333289 meters looking forward 0.000000 meters along route # Maximum depth: 1001.333289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.333289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.782939; captureRadius = 10; duration = 107; initialDepth = 935.818137; finalDepth = 951.333289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.333289 # Seafloor depth:-1001.333289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.818137 meters looking forward 0.000000 meters along route # Maximum depth: 985.818137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.818137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.783595; captureRadius = 10; duration = 107; initialDepth = 936.336539; finalDepth = 935.818137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.818137 # Seafloor depth:-985.818137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.336539 meters looking forward 0.000000 meters along route # Maximum depth: 986.336539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.336539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733398; longitude = -121.784269; captureRadius = 10; duration = 107; initialDepth = 938.955985; finalDepth = 936.336539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.336539 # Seafloor depth:-986.336539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.955985 meters looking forward 0.000000 meters along route # Maximum depth: 988.955985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.955985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.784908; captureRadius = 10; duration = 107; initialDepth = 940.765718; finalDepth = 938.955985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.955985 # Seafloor depth:-988.955985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.765718 meters looking forward 0.000000 meters along route # Maximum depth: 990.765718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.765718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.785564; captureRadius = 10; duration = 107; initialDepth = 941.572254; finalDepth = 940.765718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.765718 # Seafloor depth:-990.765718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 991.572254 meters looking forward 0.000000 meters along route # Maximum depth: 991.572254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.572254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.786220; captureRadius = 10; duration = 107; initialDepth = 939.720585; finalDepth = 941.572254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.572254 # Seafloor depth:-991.572254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 989.720585 meters looking forward 0.000000 meters along route # Maximum depth: 989.720585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.720585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.786877; captureRadius = 10; duration = 107; initialDepth = 939.795106; finalDepth = 939.720585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.720585 # Seafloor depth:-989.720585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 989.795106 meters looking forward 0.000000 meters along route # Maximum depth: 989.795106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.795106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729208; longitude = -121.787586; captureRadius = 10; duration = 107; initialDepth = 940.318820; finalDepth = 939.795106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.795106 # Seafloor depth:-989.795106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.318820 meters looking forward 0.000000 meters along route # Maximum depth: 990.318820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.318820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.788189; captureRadius = 10; duration = 107; initialDepth = 942.461280; finalDepth = 940.318820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.31882 # Seafloor depth:-990.318820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 992.461280 meters looking forward 0.000000 meters along route # Maximum depth: 992.461280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.461280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727616; longitude = -121.788846; captureRadius = 10; duration = 107; initialDepth = 945.192078; finalDepth = 942.461280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:942.46128 # Seafloor depth:-992.461280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 995.192078 meters looking forward 0.000000 meters along route # Maximum depth: 995.192078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.192078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726763; longitude = -121.789521; captureRadius = 10; duration = 107; initialDepth = 947.210628; finalDepth = 945.192078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.192078 # Seafloor depth:-995.192078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 997.210628 meters looking forward 0.000000 meters along route # Maximum depth: 997.210628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.210628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725958; longitude = -121.790159; captureRadius = 10; duration = 107; initialDepth = 948.498330; finalDepth = 947.210628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:947.210628 # Seafloor depth:-997.210628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 998.498330 meters looking forward 0.000000 meters along route # Maximum depth: 998.498330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.498330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725128; longitude = -121.790815; captureRadius = 10; duration = 107; initialDepth = 948.988612; finalDepth = 948.498330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.49833 # Seafloor depth:-998.498330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 998.988612 meters looking forward 0.000000 meters along route # Maximum depth: 998.988612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.988612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724299; longitude = -121.791471; captureRadius = 10; duration = 107; initialDepth = 949.397608; finalDepth = 948.988612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.988612 # Seafloor depth:-998.988612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 999.397608 meters looking forward 0.000000 meters along route # Maximum depth: 999.397608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.397608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723470; longitude = -121.792128; captureRadius = 10; duration = 107; initialDepth = 952.559357; finalDepth = 949.397608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.397608 # Seafloor depth:-999.397608 # 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 107.688650 meters # Minimum depth: 1002.559357 meters looking forward 0.000000 meters along route # Maximum depth: 1002.559357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.559357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722706; longitude = -121.792733; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 951.094474; finalDepth = 952.559357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:952.559357 # Seafloor depth:-1002.559357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 1001.094474 meters looking forward 0.000000 meters along route # Maximum depth: 1001.094474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.094474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722470; longitude = -121.792285; captureRadius = 10; duration = 107; initialDepth = 950.636795; finalDepth = 951.094474; 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:951.094474 # Seafloor depth:-1001.094474 # 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 107.688650 meters # Minimum depth: 1000.636795 meters looking forward 0.000000 meters along route # Maximum depth: 1000.636795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.636795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721973; longitude = -121.791339; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 947.779098; finalDepth = 950.636795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:950.636795 # Seafloor depth:-1000.636795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 997.779098 meters looking forward 0.000000 meters along route # Maximum depth: 997.779098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.779098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.790810; captureRadius = 10; duration = 107; initialDepth = 947.294166; finalDepth = 947.779098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:947.779098 # Seafloor depth:-997.779098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 997.294166 meters looking forward 0.000000 meters along route # Maximum depth: 997.294166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.294166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723470; longitude = -121.790154; captureRadius = 10; duration = 107; initialDepth = 948.417188; finalDepth = 947.294166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:947.294166 # Seafloor depth:-997.294166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 998.417188 meters looking forward 0.000000 meters along route # Maximum depth: 998.417188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.417188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724299; longitude = -121.789498; captureRadius = 10; duration = 107; initialDepth = 946.237111; finalDepth = 948.417188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.417188 # Seafloor depth:-998.417188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 996.237111 meters looking forward 0.000000 meters along route # Maximum depth: 996.237111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.237111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725128; longitude = -121.788841; captureRadius = 10; duration = 107; initialDepth = 943.635803; finalDepth = 946.237111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.237111 # Seafloor depth:-996.237111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 993.635803 meters looking forward 0.000000 meters along route # Maximum depth: 993.635803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.635803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726016; longitude = -121.788139; captureRadius = 10; duration = 107; initialDepth = 941.107212; finalDepth = 943.635803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:943.635803 # Seafloor depth:-993.635803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 991.107212 meters looking forward 0.000000 meters along route # Maximum depth: 991.107212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.107212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726787; longitude = -121.787528; captureRadius = 10; duration = 107; initialDepth = 940.207599; finalDepth = 941.107212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.107212 # Seafloor depth:-991.107212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.207599 meters looking forward 0.000000 meters along route # Maximum depth: 990.207599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.207599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727616; longitude = -121.786872; captureRadius = 10; duration = 107; initialDepth = 937.919812; finalDepth = 940.207599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.207599 # Seafloor depth:-990.207599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 987.919812 meters looking forward 0.000000 meters along route # Maximum depth: 987.919812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.919812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728460; longitude = -121.786204; captureRadius = 10; duration = 107; initialDepth = 938.548084; finalDepth = 937.919812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.919812 # Seafloor depth:-987.919812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.548084 meters looking forward 0.000000 meters along route # Maximum depth: 988.548084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.548084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.785559; captureRadius = 10; duration = 107; initialDepth = 940.117066; finalDepth = 938.548084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.548084 # Seafloor depth:-988.548084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.117066 meters looking forward 0.000000 meters along route # Maximum depth: 990.117066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.117066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.784903; captureRadius = 10; duration = 107; initialDepth = 941.193833; finalDepth = 940.117066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.117066 # Seafloor depth:-990.117066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 991.193833 meters looking forward 0.000000 meters along route # Maximum depth: 991.193833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.193833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.784247; captureRadius = 10; duration = 107; initialDepth = 940.402897; finalDepth = 941.193833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.193833 # Seafloor depth:-991.193833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.402897 meters looking forward 0.000000 meters along route # Maximum depth: 990.402897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.402897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.783590; captureRadius = 10; duration = 107; initialDepth = 930.328882; finalDepth = 940.402897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.402897 # Seafloor depth:-990.402897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.328882 meters looking forward 0.000000 meters along route # Maximum depth: 980.328882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.328882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732650; longitude = -121.782887; captureRadius = 10; duration = 107; initialDepth = 929.736857; finalDepth = 930.328882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.328882 # Seafloor depth:-980.328882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.736857 meters looking forward 0.000000 meters along route # Maximum depth: 979.736857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.736857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.782277; captureRadius = 10; duration = 107; initialDepth = 931.968302; finalDepth = 929.736857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.736857 # Seafloor depth:-979.736857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.968302 meters looking forward 0.000000 meters along route # Maximum depth: 981.968302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.968302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.781621; captureRadius = 10; duration = 107; initialDepth = 936.132216; finalDepth = 931.968302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.968302 # Seafloor depth:-981.968302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.132216 meters looking forward 0.000000 meters along route # Maximum depth: 986.132216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.132216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735095; longitude = -121.780952; captureRadius = 10; duration = 107; initialDepth = 937.085664; finalDepth = 936.132216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.132216 # Seafloor depth:-986.132216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 987.085664 meters looking forward 0.000000 meters along route # Maximum depth: 987.085664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.085664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.780308; captureRadius = 10; duration = 107; initialDepth = 938.844085; finalDepth = 937.085664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.085664 # Seafloor depth:-987.085664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.844085 meters looking forward 0.000000 meters along route # Maximum depth: 988.844085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.844085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.779652; captureRadius = 10; duration = 107; initialDepth = 926.327319; finalDepth = 938.844085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.844085 # Seafloor depth:-988.844085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.327319 meters looking forward 0.000000 meters along route # Maximum depth: 976.327319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.327319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.778996; captureRadius = 10; duration = 107; initialDepth = 946.096543; finalDepth = 926.327319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.327319 # Seafloor depth:-976.327319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 996.096543 meters looking forward 0.000000 meters along route # Maximum depth: 996.096543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.096543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.778339; captureRadius = 10; duration = 107; initialDepth = 932.160331; finalDepth = 946.096543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.096543 # Seafloor depth:-996.096543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 982.160331 meters looking forward 0.000000 meters along route # Maximum depth: 982.160331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.160331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739285; longitude = -121.777636; captureRadius = 10; duration = 107; initialDepth = 929.540521; finalDepth = 932.160331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.160331 # Seafloor depth:-982.160331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.540521 meters looking forward 0.000000 meters along route # Maximum depth: 979.540521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.540521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.777026; captureRadius = 10; duration = 107; initialDepth = 933.377467; finalDepth = 929.540521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.540521 # Seafloor depth:-979.540521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.377467 meters looking forward 0.000000 meters along route # Maximum depth: 983.377467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.377467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.776370; captureRadius = 10; duration = 107; initialDepth = 934.367543; finalDepth = 933.377467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.377467 # Seafloor depth:-983.377467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 984.367543 meters looking forward 0.000000 meters along route # Maximum depth: 984.367543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.367543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741729; longitude = -121.775701; captureRadius = 10; duration = 107; initialDepth = 933.920291; finalDepth = 934.367543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.367543 # Seafloor depth:-984.367543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.920291 meters looking forward 0.000000 meters along route # Maximum depth: 983.920291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.920291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.775057; captureRadius = 10; duration = 107; initialDepth = 934.160897; finalDepth = 933.920291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.920291 # Seafloor depth:-983.920291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 984.160897 meters looking forward 0.000000 meters along route # Maximum depth: 984.160897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.160897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.774401; captureRadius = 10; duration = 107; initialDepth = 935.259682; finalDepth = 934.160897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.160897 # Seafloor depth:-984.160897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.259682 meters looking forward 0.000000 meters along route # Maximum depth: 985.259682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.259682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.773745; captureRadius = 10; duration = 107; initialDepth = 935.091993; finalDepth = 935.259682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.259682 # Seafloor depth:-985.259682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.091993 meters looking forward 0.000000 meters along route # Maximum depth: 985.091993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.091993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.773088; captureRadius = 10; duration = 107; initialDepth = 936.348075; finalDepth = 935.091993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.091993 # Seafloor depth:-985.091993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.348075 meters looking forward 0.000000 meters along route # Maximum depth: 986.348075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.348075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745919; longitude = -121.772384; captureRadius = 10; duration = 107; initialDepth = 936.079003; finalDepth = 936.348075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.348075 # Seafloor depth:-986.348075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.079003 meters looking forward 0.000000 meters along route # Maximum depth: 986.079003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.079003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.771775; captureRadius = 10; duration = 107; initialDepth = 936.338190; finalDepth = 936.079003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.079003 # Seafloor depth:-986.079003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.338190 meters looking forward 0.000000 meters along route # Maximum depth: 986.338190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.338190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747665; longitude = -121.771002; captureRadius = 10; duration = 107; initialDepth = 936.730774; finalDepth = 936.338190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.33819 # Seafloor depth:-986.338190 # 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 107.688650 meters # Minimum depth: 986.730774 meters looking forward 0.000000 meters along route # Maximum depth: 986.730774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.730774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748509; longitude = -121.770334; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 936.844978; finalDepth = 936.730774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.730774 # Seafloor depth:-986.730774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.844978 meters looking forward 0.000000 meters along route # Maximum depth: 986.844978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.844978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748278; longitude = -121.769896; captureRadius = 10; duration = 107; initialDepth = 935.657318; finalDepth = 936.844978; 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:936.844978 # Seafloor depth:-986.844978 # 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 107.688650 meters # Minimum depth: 985.657318 meters looking forward 0.000000 meters along route # Maximum depth: 985.657318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.657318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747775; longitude = -121.768940; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 935.071147; finalDepth = 935.657318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.657318 # Seafloor depth:-985.657318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.071147 meters looking forward 0.000000 meters along route # Maximum depth: 985.071147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.071147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746917; longitude = -121.769620; captureRadius = 10; duration = 107; initialDepth = 934.098944; finalDepth = 935.071147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.071147 # Seafloor depth:-985.071147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 984.098944 meters looking forward 0.000000 meters along route # Maximum depth: 984.098944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.098944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.770239; captureRadius = 10; duration = 107; initialDepth = 935.021082; finalDepth = 934.098944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.098944 # Seafloor depth:-984.098944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.021082 meters looking forward 0.000000 meters along route # Maximum depth: 985.021082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.021082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.770895; captureRadius = 10; duration = 107; initialDepth = 933.763974; finalDepth = 935.021082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.021082 # Seafloor depth:-985.021082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.763974 meters looking forward 0.000000 meters along route # Maximum depth: 983.763974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.763974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744473; longitude = -121.771555; captureRadius = 10; duration = 107; initialDepth = 934.048474; finalDepth = 933.763974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.763974 # Seafloor depth:-983.763974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 984.048474 meters looking forward 0.000000 meters along route # Maximum depth: 984.048474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.048474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.772208; captureRadius = 10; duration = 107; initialDepth = 931.141419; finalDepth = 934.048474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.048474 # Seafloor depth:-984.048474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.141419 meters looking forward 0.000000 meters along route # Maximum depth: 981.141419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.141419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.772864; captureRadius = 10; duration = 107; initialDepth = 933.316212; finalDepth = 931.141419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.141419 # Seafloor depth:-981.141419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.316212 meters looking forward 0.000000 meters along route # Maximum depth: 983.316212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.316212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.773521; captureRadius = 10; duration = 107; initialDepth = 932.763822; finalDepth = 933.316212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.316212 # Seafloor depth:-983.316212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 982.763822 meters looking forward 0.000000 meters along route # Maximum depth: 982.763822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.763822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.774177; captureRadius = 10; duration = 107; initialDepth = 929.650882; finalDepth = 932.763822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.763822 # Seafloor depth:-982.763822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.650882 meters looking forward 0.000000 meters along route # Maximum depth: 979.650882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.650882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740283; longitude = -121.774872; captureRadius = 10; duration = 107; initialDepth = 926.962007; finalDepth = 929.650882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.650882 # Seafloor depth:-979.650882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.962007 meters looking forward 0.000000 meters along route # Maximum depth: 976.962007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.962007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.775490; captureRadius = 10; duration = 107; initialDepth = 946.983046; finalDepth = 926.962007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.962007 # Seafloor depth:-976.962007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 996.983046 meters looking forward 0.000000 meters along route # Maximum depth: 996.983046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.983046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.776146; captureRadius = 10; duration = 107; initialDepth = 940.540676; finalDepth = 946.983046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.983046 # Seafloor depth:-996.983046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.540676 meters looking forward 0.000000 meters along route # Maximum depth: 990.540676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.540676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737839; longitude = -121.776806; captureRadius = 10; duration = 107; initialDepth = 922.531979; finalDepth = 940.540676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.540676 # Seafloor depth:-990.540676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.531979 meters looking forward 0.000000 meters along route # Maximum depth: 972.531979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.531979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.777459; captureRadius = 10; duration = 107; initialDepth = 938.519579; finalDepth = 922.531979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.531979 # Seafloor depth:-972.531979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.519579 meters looking forward 0.000000 meters along route # Maximum depth: 988.519579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.519579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.778116; captureRadius = 10; duration = 107; initialDepth = 930.983949; finalDepth = 938.519579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.519579 # Seafloor depth:-988.519579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.983949 meters looking forward 0.000000 meters along route # Maximum depth: 980.983949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.983949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.778772; captureRadius = 10; duration = 107; initialDepth = 930.814926; finalDepth = 930.983949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.983949 # Seafloor depth:-980.983949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.814926 meters looking forward 0.000000 meters along route # Maximum depth: 980.814926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.814926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.779428; captureRadius = 10; duration = 107; initialDepth = 929.767999; finalDepth = 930.814926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.814926 # Seafloor depth:-980.814926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.767999 meters looking forward 0.000000 meters along route # Maximum depth: 979.767999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.767999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733648; longitude = -121.780123; captureRadius = 10; duration = 107; initialDepth = 929.711441; finalDepth = 929.767999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.767999 # Seafloor depth:-979.767999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.711441 meters looking forward 0.000000 meters along route # Maximum depth: 979.711441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.711441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.780741; captureRadius = 10; duration = 107; initialDepth = 929.564781; finalDepth = 929.711441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.711441 # Seafloor depth:-979.711441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.564781 meters looking forward 0.000000 meters along route # Maximum depth: 979.564781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.564781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.781397; captureRadius = 10; duration = 107; initialDepth = 929.080031; finalDepth = 929.564781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.564781 # Seafloor depth:-979.564781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.080031 meters looking forward 0.000000 meters along route # Maximum depth: 979.080031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.080031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731204; longitude = -121.782058; captureRadius = 10; duration = 107; initialDepth = 932.213044; finalDepth = 929.080031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.080031 # Seafloor depth:-979.080031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 982.213044 meters looking forward 0.000000 meters along route # Maximum depth: 982.213044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.213044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730380; longitude = -121.782710; captureRadius = 10; duration = 107; initialDepth = 940.403654; finalDepth = 932.213044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.213044 # Seafloor depth:-982.213044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.403654 meters looking forward 0.000000 meters along route # Maximum depth: 990.403654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.403654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729551; longitude = -121.783367; captureRadius = 10; duration = 107; initialDepth = 937.086831; finalDepth = 940.403654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.403654 # Seafloor depth:-990.403654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 987.086831 meters looking forward 0.000000 meters along route # Maximum depth: 987.086831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.086831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728722; longitude = -121.784023; captureRadius = 10; duration = 107; initialDepth = 937.575887; finalDepth = 937.086831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.086831 # Seafloor depth:-987.086831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 987.575887 meters looking forward 0.000000 meters along route # Maximum depth: 987.575887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.575887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727893; longitude = -121.784679; captureRadius = 10; duration = 107; initialDepth = 939.343291; finalDepth = 937.575887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.575887 # Seafloor depth:-987.575887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 989.343291 meters looking forward 0.000000 meters along route # Maximum depth: 989.343291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.343291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727014; longitude = -121.785375; captureRadius = 10; duration = 107; initialDepth = 942.818211; finalDepth = 939.343291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.343291 # Seafloor depth:-989.343291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 992.818211 meters looking forward 0.000000 meters along route # Maximum depth: 992.818211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.818211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726234; longitude = -121.785992; captureRadius = 10; duration = 107; initialDepth = 943.736936; finalDepth = 942.818211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:942.818211 # Seafloor depth:-992.818211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 993.736936 meters looking forward 0.000000 meters along route # Maximum depth: 993.736936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.736936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725405; longitude = -121.786649; captureRadius = 10; duration = 107; initialDepth = 945.487671; finalDepth = 943.736936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:943.736936 # Seafloor depth:-993.736936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 995.487671 meters looking forward 0.000000 meters along route # Maximum depth: 995.487671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.487671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724570; longitude = -121.787310; captureRadius = 10; duration = 107; initialDepth = 946.295489; finalDepth = 945.487671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.487671 # Seafloor depth:-995.487671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 996.295489 meters looking forward 0.000000 meters along route # Maximum depth: 996.295489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.295489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723746; longitude = -121.787961; captureRadius = 10; duration = 107; initialDepth = 945.527055; finalDepth = 946.295489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.295489 # Seafloor depth:-996.295489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 995.527055 meters looking forward 0.000000 meters along route # Maximum depth: 995.527055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.527055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722917; longitude = -121.788618; captureRadius = 10; duration = 107; initialDepth = 951.968219; finalDepth = 945.527055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.527055 # Seafloor depth:-995.527055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 1001.968219 meters looking forward 0.000000 meters along route # Maximum depth: 1001.968219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.968219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.789274; captureRadius = 10; duration = 107; initialDepth = 949.565292; finalDepth = 951.968219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.968219 # Seafloor depth:-1001.968219 # 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 107.688650 meters # Minimum depth: 999.565292 meters looking forward 0.000000 meters along route # Maximum depth: 999.565292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.565292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721239; longitude = -121.789946; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 950.166648; finalDepth = 949.565292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.565292 # Seafloor depth:-999.565292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 1000.166648 meters looking forward 0.000000 meters along route # Maximum depth: 1000.166648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.166648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721016; longitude = -121.789521; captureRadius = 10; duration = 107; initialDepth = 948.039551; finalDepth = 950.166648; 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:950.166648 # Seafloor depth:-1000.166648 # 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 107.688650 meters # Minimum depth: 998.039551 meters looking forward 0.000000 meters along route # Maximum depth: 998.039551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.039551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720506; longitude = -121.788552; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 948.139711; finalDepth = 948.039551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.039551 # Seafloor depth:-998.039551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 998.139711 meters looking forward 0.000000 meters along route # Maximum depth: 998.139711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.139711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.787957; captureRadius = 10; duration = 107; initialDepth = 949.514858; finalDepth = 948.139711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.139711 # Seafloor depth:-998.139711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 999.514858 meters looking forward 0.000000 meters along route # Maximum depth: 999.514858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.514858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.787300; captureRadius = 10; duration = 107; initialDepth = 946.620643; finalDepth = 949.514858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.514858 # Seafloor depth:-999.514858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 996.620643 meters looking forward 0.000000 meters along route # Maximum depth: 996.620643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.620643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722917; longitude = -121.786644; captureRadius = 10; duration = 107; initialDepth = 946.649030; finalDepth = 946.620643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.620643 # Seafloor depth:-996.620643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 996.649030 meters looking forward 0.000000 meters along route # Maximum depth: 996.649030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.649030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723746; longitude = -121.785988; captureRadius = 10; duration = 107; initialDepth = 941.326085; finalDepth = 946.649030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.64903 # Seafloor depth:-996.649030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 991.326085 meters looking forward 0.000000 meters along route # Maximum depth: 991.326085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.326085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724576; longitude = -121.785331; captureRadius = 10; duration = 107; initialDepth = 941.786451; finalDepth = 941.326085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.326085 # Seafloor depth:-991.326085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 991.786451 meters looking forward 0.000000 meters along route # Maximum depth: 991.786451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.786451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725405; longitude = -121.784675; captureRadius = 10; duration = 107; initialDepth = 938.678415; finalDepth = 941.786451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.786451 # Seafloor depth:-991.786451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.678415 meters looking forward 0.000000 meters along route # Maximum depth: 988.678415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.678415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726266; longitude = -121.783993; captureRadius = 10; duration = 107; initialDepth = 936.506257; finalDepth = 938.678415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.678415 # Seafloor depth:-988.678415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.506257 meters looking forward 0.000000 meters along route # Maximum depth: 986.506257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.506257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727063; longitude = -121.783362; captureRadius = 10; duration = 107; initialDepth = 936.139196; finalDepth = 936.506257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.506257 # Seafloor depth:-986.506257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.139196 meters looking forward 0.000000 meters along route # Maximum depth: 986.139196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.139196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727893; longitude = -121.782706; captureRadius = 10; duration = 107; initialDepth = 936.593335; finalDepth = 936.139196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.139196 # Seafloor depth:-986.139196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.593335 meters looking forward 0.000000 meters along route # Maximum depth: 986.593335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.593335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728722; longitude = -121.782049; captureRadius = 10; duration = 107; initialDepth = 933.825812; finalDepth = 936.593335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.593335 # Seafloor depth:-986.593335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.825812 meters looking forward 0.000000 meters along route # Maximum depth: 983.825812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.825812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729551; longitude = -121.781393; captureRadius = 10; duration = 107; initialDepth = 930.883700; finalDepth = 933.825812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.825812 # Seafloor depth:-983.825812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.883700 meters looking forward 0.000000 meters along route # Maximum depth: 980.883700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.883700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730380; longitude = -121.780736; captureRadius = 10; duration = 107; initialDepth = 931.312220; finalDepth = 930.883700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.8837 # Seafloor depth:-980.883700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.312220 meters looking forward 0.000000 meters along route # Maximum depth: 981.312220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.312220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731209; longitude = -121.780080; captureRadius = 10; duration = 107; initialDepth = 934.769635; finalDepth = 931.312220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.31222 # Seafloor depth:-981.312220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 984.769635 meters looking forward 0.000000 meters along route # Maximum depth: 984.769635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.769635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.779424; captureRadius = 10; duration = 107; initialDepth = 931.730806; finalDepth = 934.769635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.769635 # Seafloor depth:-984.769635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.730806 meters looking forward 0.000000 meters along route # Maximum depth: 981.730806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.730806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732901; longitude = -121.778741; captureRadius = 10; duration = 107; initialDepth = 933.209124; finalDepth = 931.730806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.730806 # Seafloor depth:-981.730806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.209124 meters looking forward 0.000000 meters along route # Maximum depth: 983.209124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.209124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.778111; captureRadius = 10; duration = 107; initialDepth = 934.204693; finalDepth = 933.209124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.209124 # Seafloor depth:-983.209124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 984.204693 meters looking forward 0.000000 meters along route # Maximum depth: 984.204693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.204693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.777454; captureRadius = 10; duration = 107; initialDepth = 928.303332; finalDepth = 934.204693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.204693 # Seafloor depth:-984.204693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.303332 meters looking forward 0.000000 meters along route # Maximum depth: 978.303332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.303332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.776798; captureRadius = 10; duration = 107; initialDepth = 924.411108; finalDepth = 928.303332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.303332 # Seafloor depth:-978.303332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.411108 meters looking forward 0.000000 meters along route # Maximum depth: 974.411108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.411108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.776142; captureRadius = 10; duration = 107; initialDepth = 927.219671; finalDepth = 924.411108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.411108 # Seafloor depth:-974.411108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 977.219671 meters looking forward 0.000000 meters along route # Maximum depth: 977.219671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.219671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.775485; captureRadius = 10; duration = 107; initialDepth = 942.469985; finalDepth = 927.219671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.219671 # Seafloor depth:-977.219671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 992.469985 meters looking forward 0.000000 meters along route # Maximum depth: 992.469985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.469985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.774829; captureRadius = 10; duration = 107; initialDepth = 928.159043; finalDepth = 942.469985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:942.469985 # Seafloor depth:-992.469985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.159043 meters looking forward 0.000000 meters along route # Maximum depth: 978.159043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.159043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.774172; captureRadius = 10; duration = 107; initialDepth = 929.160631; finalDepth = 928.159043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.159043 # Seafloor depth:-978.159043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.160631 meters looking forward 0.000000 meters along route # Maximum depth: 979.160631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.160631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739535; longitude = -121.773489; captureRadius = 10; duration = 107; initialDepth = 930.095718; finalDepth = 929.160631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.160631 # Seafloor depth:-979.160631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.095718 meters looking forward 0.000000 meters along route # Maximum depth: 980.095718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.095718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.772860; captureRadius = 10; duration = 107; initialDepth = 935.932196; finalDepth = 930.095718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.095718 # Seafloor depth:-980.095718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.932196 meters looking forward 0.000000 meters along route # Maximum depth: 985.932196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.932196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.772203; captureRadius = 10; duration = 107; initialDepth = 930.863920; finalDepth = 935.932196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.932196 # Seafloor depth:-985.932196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.863920 meters looking forward 0.000000 meters along route # Maximum depth: 980.863920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.863920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.771547; captureRadius = 10; duration = 107; initialDepth = 932.499474; finalDepth = 930.863920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.86392 # Seafloor depth:-980.863920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 982.499474 meters looking forward 0.000000 meters along route # Maximum depth: 982.499474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.499474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.770890; captureRadius = 10; duration = 107; initialDepth = 933.934208; finalDepth = 932.499474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.499474 # Seafloor depth:-982.499474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.934208 meters looking forward 0.000000 meters along route # Maximum depth: 983.934208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.934208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.770234; captureRadius = 10; duration = 107; initialDepth = 931.835230; finalDepth = 933.934208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.934208 # Seafloor depth:-983.934208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.835230 meters looking forward 0.000000 meters along route # Maximum depth: 981.835230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.835230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.769577; captureRadius = 10; duration = 107; initialDepth = 932.384497; finalDepth = 931.835230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.83523 # Seafloor depth:-981.835230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 982.384497 meters looking forward 0.000000 meters along route # Maximum depth: 982.384497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.384497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.768921; captureRadius = 10; duration = 107; initialDepth = 931.281876; finalDepth = 932.384497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.384497 # Seafloor depth:-982.384497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.281876 meters looking forward 0.000000 meters along route # Maximum depth: 981.281876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.281876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746169; longitude = -121.768238; captureRadius = 10; duration = 107; initialDepth = 931.939606; finalDepth = 931.281876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.281876 # Seafloor depth:-981.281876 # 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 107.688650 meters # Minimum depth: 981.939606 meters looking forward 0.000000 meters along route # Maximum depth: 981.939606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.939606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747042; longitude = -121.767547; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 930.774849; finalDepth = 931.939606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.939606 # Seafloor depth:-981.939606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.774849 meters looking forward 0.000000 meters along route # Maximum depth: 980.774849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.774849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746824; longitude = -121.767132; captureRadius = 10; duration = 107; initialDepth = 932.811462; finalDepth = 930.774849; 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:930.774849 # Seafloor depth:-980.774849 # 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 107.688650 meters # Minimum depth: 982.811462 meters looking forward 0.000000 meters along route # Maximum depth: 982.811462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.811462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746309; longitude = -121.766153; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 931.047992; finalDepth = 932.811462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.811462 # Seafloor depth:-982.811462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.047992 meters looking forward 0.000000 meters along route # Maximum depth: 981.047992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.047992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.766728; captureRadius = 10; duration = 107; initialDepth = 929.827023; finalDepth = 931.047992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.047992 # Seafloor depth:-981.047992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.827023 meters looking forward 0.000000 meters along route # Maximum depth: 979.827023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.827023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744723; longitude = -121.767409; captureRadius = 10; duration = 107; initialDepth = 930.858334; finalDepth = 929.827023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.827023 # Seafloor depth:-979.827023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.858334 meters looking forward 0.000000 meters along route # Maximum depth: 980.858334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.858334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.768041; captureRadius = 10; duration = 107; initialDepth = 932.336384; finalDepth = 930.858334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.858334 # Seafloor depth:-980.858334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 982.336384 meters looking forward 0.000000 meters along route # Maximum depth: 982.336384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.336384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.768697; captureRadius = 10; duration = 107; initialDepth = 929.283359; finalDepth = 932.336384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.336384 # Seafloor depth:-982.336384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.283359 meters looking forward 0.000000 meters along route # Maximum depth: 979.283359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.283359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.769354; captureRadius = 10; duration = 107; initialDepth = 929.015182; finalDepth = 929.283359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.283359 # Seafloor depth:-979.283359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.015182 meters looking forward 0.000000 meters along route # Maximum depth: 979.015182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.015182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.770010; captureRadius = 10; duration = 107; initialDepth = 930.459067; finalDepth = 929.015182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.015182 # Seafloor depth:-979.015182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.459067 meters looking forward 0.000000 meters along route # Maximum depth: 980.459067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.459067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.770667; captureRadius = 10; duration = 107; initialDepth = 929.104046; finalDepth = 930.459067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.459067 # Seafloor depth:-980.459067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.104046 meters looking forward 0.000000 meters along route # Maximum depth: 979.104046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.104046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.771323; captureRadius = 10; duration = 107; initialDepth = 926.360368; finalDepth = 929.104046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.104046 # Seafloor depth:-979.104046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.360368 meters looking forward 0.000000 meters along route # Maximum depth: 976.360368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.360368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.771979; captureRadius = 10; duration = 107; initialDepth = 924.933338; finalDepth = 926.360368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.360368 # Seafloor depth:-976.360368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.933338 meters looking forward 0.000000 meters along route # Maximum depth: 974.933338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.933338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738089; longitude = -121.772660; captureRadius = 10; duration = 107; initialDepth = 940.036100; finalDepth = 924.933338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.933338 # Seafloor depth:-974.933338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.036100 meters looking forward 0.000000 meters along route # Maximum depth: 990.036100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.036100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.773292; captureRadius = 10; duration = 107; initialDepth = 938.186860; finalDepth = 940.036100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.0361 # Seafloor depth:-990.036100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.186860 meters looking forward 0.000000 meters along route # Maximum depth: 988.186860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.186860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.773949; captureRadius = 10; duration = 107; initialDepth = 924.872747; finalDepth = 938.186860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.18686 # Seafloor depth:-988.186860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.872747 meters looking forward 0.000000 meters along route # Maximum depth: 974.872747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.872747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.774605; captureRadius = 10; duration = 107; initialDepth = 926.068766; finalDepth = 924.872747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.872747 # Seafloor depth:-974.872747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.068766 meters looking forward 0.000000 meters along route # Maximum depth: 976.068766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.068766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.775262; captureRadius = 10; duration = 107; initialDepth = 928.853717; finalDepth = 926.068766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.068766 # Seafloor depth:-976.068766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.853717 meters looking forward 0.000000 meters along route # Maximum depth: 978.853717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.853717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.775918; captureRadius = 10; duration = 107; initialDepth = 925.885752; finalDepth = 928.853717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.853717 # Seafloor depth:-978.853717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 975.885752 meters looking forward 0.000000 meters along route # Maximum depth: 975.885752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.885752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733144; longitude = -121.776574; captureRadius = 10; duration = 107; initialDepth = 930.342563; finalDepth = 925.885752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.885752 # Seafloor depth:-975.885752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.342563 meters looking forward 0.000000 meters along route # Maximum depth: 980.342563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.342563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.777231; captureRadius = 10; duration = 107; initialDepth = 930.972717; finalDepth = 930.342563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.342563 # Seafloor depth:-980.342563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.972717 meters looking forward 0.000000 meters along route # Maximum depth: 980.972717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.972717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731455; longitude = -121.777912; captureRadius = 10; duration = 107; initialDepth = 927.521371; finalDepth = 930.972717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.972717 # Seafloor depth:-980.972717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 977.521371 meters looking forward 0.000000 meters along route # Maximum depth: 977.521371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.521371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.778544; captureRadius = 10; duration = 107; initialDepth = 935.092296; finalDepth = 927.521371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.521371 # Seafloor depth:-977.521371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.092296 meters looking forward 0.000000 meters along route # Maximum depth: 985.092296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.092296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.779200; captureRadius = 10; duration = 107; initialDepth = 933.990782; finalDepth = 935.092296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.092296 # Seafloor depth:-985.092296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.990782 meters looking forward 0.000000 meters along route # Maximum depth: 983.990782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.990782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728998; longitude = -121.779856; captureRadius = 10; duration = 107; initialDepth = 934.237864; finalDepth = 933.990782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.990782 # Seafloor depth:-983.990782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 984.237864 meters looking forward 0.000000 meters along route # Maximum depth: 984.237864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.237864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728169; longitude = -121.780513; captureRadius = 10; duration = 107; initialDepth = 935.425520; finalDepth = 934.237864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.237864 # Seafloor depth:-984.237864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.425520 meters looking forward 0.000000 meters along route # Maximum depth: 985.425520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.425520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.781169; captureRadius = 10; duration = 107; initialDepth = 936.813607; finalDepth = 935.425520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.42552 # Seafloor depth:-985.425520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.813607 meters looking forward 0.000000 meters along route # Maximum depth: 986.813607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.813607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726511; longitude = -121.781826; captureRadius = 10; duration = 107; initialDepth = 938.634404; finalDepth = 936.813607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.813607 # Seafloor depth:-986.813607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.634404 meters looking forward 0.000000 meters along route # Maximum depth: 988.634404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.634404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725681; longitude = -121.782482; captureRadius = 10; duration = 107; initialDepth = 939.094028; finalDepth = 938.634404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.634404 # Seafloor depth:-988.634404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 989.094028 meters looking forward 0.000000 meters along route # Maximum depth: 989.094028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.094028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724820; longitude = -121.783164; captureRadius = 10; duration = 107; initialDepth = 941.127087; finalDepth = 939.094028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.094028 # Seafloor depth:-989.094028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 991.127087 meters looking forward 0.000000 meters along route # Maximum depth: 991.127087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.127087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724023; longitude = -121.783795; captureRadius = 10; duration = 107; initialDepth = 944.934090; finalDepth = 941.127087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.127087 # Seafloor depth:-991.127087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.934090 meters looking forward 0.000000 meters along route # Maximum depth: 994.934090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.934090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.784451; captureRadius = 10; duration = 107; initialDepth = 944.988931; finalDepth = 944.934090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.93409 # Seafloor depth:-994.934090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.988931 meters looking forward 0.000000 meters along route # Maximum depth: 994.988931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.988931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.785108; captureRadius = 10; duration = 107; initialDepth = 945.486257; finalDepth = 944.988931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.988931 # Seafloor depth:-994.988931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 995.486257 meters looking forward 0.000000 meters along route # Maximum depth: 995.486257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.486257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.785764; captureRadius = 10; duration = 107; initialDepth = 947.481125; finalDepth = 945.486257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.486257 # Seafloor depth:-995.486257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 997.481125 meters looking forward 0.000000 meters along route # Maximum depth: 997.481125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.481125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720630; longitude = -121.786480; captureRadius = 10; duration = 107; initialDepth = 946.386414; finalDepth = 947.481125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:947.481125 # Seafloor depth:-997.481125 # 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 107.688650 meters # Minimum depth: 996.386414 meters looking forward 0.000000 meters along route # Maximum depth: 996.386414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.386414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719773; longitude = -121.787159; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 947.571103; finalDepth = 946.386414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.386414 # Seafloor depth:-996.386414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 997.571103 meters looking forward 0.000000 meters along route # Maximum depth: 997.571103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.571103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719561; longitude = -121.786757; captureRadius = 10; duration = 107; initialDepth = 944.255127; finalDepth = 947.571103; 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:947.571103 # Seafloor depth:-997.571103 # 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 107.688650 meters # Minimum depth: 994.255127 meters looking forward 0.000000 meters along route # Maximum depth: 994.255127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.255127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719040; longitude = -121.785766; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 944.158742; finalDepth = 944.255127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.255127 # Seafloor depth:-994.255127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.158742 meters looking forward 0.000000 meters along route # Maximum depth: 994.158742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.158742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.785760; captureRadius = 10; duration = 107; initialDepth = 940.721936; finalDepth = 944.158742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.158742 # Seafloor depth:-994.158742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.721936 meters looking forward 0.000000 meters along route # Maximum depth: 990.721936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.721936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719883; longitude = -121.785098; captureRadius = 10; duration = 107; initialDepth = 944.848528; finalDepth = 940.721936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.721936 # Seafloor depth:-990.721936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.848528 meters looking forward 0.000000 meters along route # Maximum depth: 994.848528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.848528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.784447; captureRadius = 10; duration = 107; initialDepth = 943.526413; finalDepth = 944.848528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.848528 # Seafloor depth:-994.848528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 993.526413 meters looking forward 0.000000 meters along route # Maximum depth: 993.526413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.526413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.783790; captureRadius = 10; duration = 107; initialDepth = 940.646324; finalDepth = 943.526413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:943.526413 # Seafloor depth:-993.526413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.646324 meters looking forward 0.000000 meters along route # Maximum depth: 990.646324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.646324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.783134; captureRadius = 10; duration = 107; initialDepth = 944.659748; finalDepth = 940.646324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.646324 # Seafloor depth:-990.646324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 994.659748 meters looking forward 0.000000 meters along route # Maximum depth: 994.659748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.659748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.782478; captureRadius = 10; duration = 107; initialDepth = 940.301411; finalDepth = 944.659748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:944.659748 # Seafloor depth:-994.659748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.301411 meters looking forward 0.000000 meters along route # Maximum depth: 990.301411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.301411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724073; longitude = -121.781782; captureRadius = 10; duration = 107; initialDepth = 939.510639; finalDepth = 940.301411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.301411 # Seafloor depth:-990.301411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 989.510639 meters looking forward 0.000000 meters along route # Maximum depth: 989.510639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.510639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724852; longitude = -121.781165; captureRadius = 10; duration = 107; initialDepth = 936.942985; finalDepth = 939.510639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.510639 # Seafloor depth:-989.510639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.942985 meters looking forward 0.000000 meters along route # Maximum depth: 986.942985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.942985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725681; longitude = -121.780508; captureRadius = 10; duration = 107; initialDepth = 937.405722; finalDepth = 936.942985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.942985 # Seafloor depth:-986.942985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 987.405722 meters looking forward 0.000000 meters along route # Maximum depth: 987.405722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.405722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726517; longitude = -121.779847; captureRadius = 10; duration = 107; initialDepth = 935.443351; finalDepth = 937.405722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.405722 # Seafloor depth:-987.405722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.443351 meters looking forward 0.000000 meters along route # Maximum depth: 985.443351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.443351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.779195; captureRadius = 10; duration = 107; initialDepth = 936.777748; finalDepth = 935.443351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.443351 # Seafloor depth:-985.443351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.777748 meters looking forward 0.000000 meters along route # Maximum depth: 986.777748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.777748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728169; longitude = -121.778539; captureRadius = 10; duration = 107; initialDepth = 934.863717; finalDepth = 936.777748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.777748 # Seafloor depth:-986.777748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 984.863717 meters looking forward 0.000000 meters along route # Maximum depth: 984.863717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.863717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728998; longitude = -121.777883; captureRadius = 10; duration = 107; initialDepth = 930.582877; finalDepth = 934.863717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.863717 # Seafloor depth:-984.863717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.582877 meters looking forward 0.000000 meters along route # Maximum depth: 980.582877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.582877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.777226; captureRadius = 10; duration = 107; initialDepth = 927.341822; finalDepth = 930.582877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.582877 # Seafloor depth:-980.582877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 977.341822 meters looking forward 0.000000 meters along route # Maximum depth: 977.341822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.341822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730707; longitude = -121.776530; captureRadius = 10; duration = 107; initialDepth = 925.164286; finalDepth = 927.341822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.341822 # Seafloor depth:-977.341822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 975.164286 meters looking forward 0.000000 meters along route # Maximum depth: 975.164286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.164286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.775913; captureRadius = 10; duration = 107; initialDepth = 928.894292; finalDepth = 925.164286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.164286 # Seafloor depth:-975.164286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.894292 meters looking forward 0.000000 meters along route # Maximum depth: 978.894292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.894292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.775257; captureRadius = 10; duration = 107; initialDepth = 928.958128; finalDepth = 928.894292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.894292 # Seafloor depth:-978.894292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.958128 meters looking forward 0.000000 meters along route # Maximum depth: 978.958128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.958128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733151; longitude = -121.774595; captureRadius = 10; duration = 107; initialDepth = 924.044782; finalDepth = 928.958128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.958128 # Seafloor depth:-978.958128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.044782 meters looking forward 0.000000 meters along route # Maximum depth: 974.044782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.044782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.773944; captureRadius = 10; duration = 107; initialDepth = 921.116500; finalDepth = 924.044782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.044782 # Seafloor depth:-974.044782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.116500 meters looking forward 0.000000 meters along route # Maximum depth: 971.116500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.116500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.773288; captureRadius = 10; duration = 107; initialDepth = 940.135908; finalDepth = 921.116500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.1165 # Seafloor depth:-971.116500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.135908 meters looking forward 0.000000 meters along route # Maximum depth: 990.135908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.135908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.772631; captureRadius = 10; duration = 107; initialDepth = 931.432873; finalDepth = 940.135908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.135908 # Seafloor depth:-990.135908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.432873 meters looking forward 0.000000 meters along route # Maximum depth: 981.432873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.432873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.771975; captureRadius = 10; duration = 107; initialDepth = 924.558727; finalDepth = 931.432873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.432873 # Seafloor depth:-981.432873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.558727 meters looking forward 0.000000 meters along route # Maximum depth: 974.558727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.558727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737341; longitude = -121.771278; captureRadius = 10; duration = 107; initialDepth = 924.991226; finalDepth = 924.558727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.558727 # Seafloor depth:-974.558727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.991226 meters looking forward 0.000000 meters along route # Maximum depth: 974.991226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.991226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.770662; captureRadius = 10; duration = 107; initialDepth = 927.430787; finalDepth = 924.991226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.991226 # Seafloor depth:-974.991226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 977.430787 meters looking forward 0.000000 meters along route # Maximum depth: 977.430787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.430787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.770005; captureRadius = 10; duration = 107; initialDepth = 924.346284; finalDepth = 927.430787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.430787 # Seafloor depth:-977.430787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.346284 meters looking forward 0.000000 meters along route # Maximum depth: 974.346284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.346284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739785; longitude = -121.769343; captureRadius = 10; duration = 107; initialDepth = 927.914074; finalDepth = 924.346284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.346284 # Seafloor depth:-974.346284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 977.914074 meters looking forward 0.000000 meters along route # Maximum depth: 977.914074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.914074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.768693; captureRadius = 10; duration = 107; initialDepth = 929.592423; finalDepth = 927.914074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.914074 # Seafloor depth:-977.914074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.592423 meters looking forward 0.000000 meters along route # Maximum depth: 979.592423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.592423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.768036; captureRadius = 10; duration = 107; initialDepth = 928.193343; finalDepth = 929.592423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.592423 # Seafloor depth:-979.592423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.193343 meters looking forward 0.000000 meters along route # Maximum depth: 978.193343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.193343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.767380; captureRadius = 10; duration = 107; initialDepth = 931.192958; finalDepth = 928.193343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.193343 # Seafloor depth:-978.193343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.192958 meters looking forward 0.000000 meters along route # Maximum depth: 981.192958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.192958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.766723; captureRadius = 10; duration = 107; initialDepth = 929.809083; finalDepth = 931.192958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.192958 # Seafloor depth:-981.192958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.809083 meters looking forward 0.000000 meters along route # Maximum depth: 979.809083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.809083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743975; longitude = -121.766027; captureRadius = 10; duration = 107; initialDepth = 929.603371; finalDepth = 929.809083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.809083 # Seafloor depth:-979.809083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.603371 meters looking forward 0.000000 meters along route # Maximum depth: 979.603371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.603371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744753; longitude = -121.765410; captureRadius = 10; duration = 107; initialDepth = 927.748917; finalDepth = 929.603371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.603371 # Seafloor depth:-979.603371 # 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 107.688650 meters # Minimum depth: 977.748917 meters looking forward 0.000000 meters along route # Maximum depth: 977.748917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.748917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745575; longitude = -121.764760; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 928.016398; finalDepth = 927.748917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.748917 # Seafloor depth:-977.748917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.016398 meters looking forward 0.000000 meters along route # Maximum depth: 978.016398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.016398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745369; longitude = -121.764368; captureRadius = 10; duration = 107; initialDepth = 928.274933; finalDepth = 928.016398; 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:928.016398 # Seafloor depth:-978.016398 # 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 107.688650 meters # Minimum depth: 978.274933 meters looking forward 0.000000 meters along route # Maximum depth: 978.274933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.274933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744842; longitude = -121.763366; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 927.998630; finalDepth = 928.274933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.274933 # Seafloor depth:-978.274933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 977.998630 meters looking forward 0.000000 meters along route # Maximum depth: 977.998630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.998630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.763874; captureRadius = 10; duration = 107; initialDepth = 928.763072; finalDepth = 927.998630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.99863 # Seafloor depth:-977.998630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.763072 meters looking forward 0.000000 meters along route # Maximum depth: 978.763072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.763072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.764530; captureRadius = 10; duration = 107; initialDepth = 927.262769; finalDepth = 928.763072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.763072 # Seafloor depth:-978.763072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 977.262769 meters looking forward 0.000000 meters along route # Maximum depth: 977.262769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.262769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742529; longitude = -121.765197; captureRadius = 10; duration = 107; initialDepth = 926.619504; finalDepth = 927.262769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.262769 # Seafloor depth:-977.262769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.619504 meters looking forward 0.000000 meters along route # Maximum depth: 976.619504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.619504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.765843; captureRadius = 10; duration = 107; initialDepth = 926.575462; finalDepth = 926.619504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.619504 # Seafloor depth:-976.619504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.575462 meters looking forward 0.000000 meters along route # Maximum depth: 976.575462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.575462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.766500; captureRadius = 10; duration = 107; initialDepth = 926.577523; finalDepth = 926.575462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.575462 # Seafloor depth:-976.575462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.577523 meters looking forward 0.000000 meters along route # Maximum depth: 976.577523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.577523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.767156; captureRadius = 10; duration = 107; initialDepth = 923.770178; finalDepth = 926.577523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.577523 # Seafloor depth:-976.577523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.770178 meters looking forward 0.000000 meters along route # Maximum depth: 973.770178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.770178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.767813; captureRadius = 10; duration = 107; initialDepth = 922.679073; finalDepth = 923.770178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.770178 # Seafloor depth:-973.770178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.679073 meters looking forward 0.000000 meters along route # Maximum depth: 972.679073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.679073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738339; longitude = -121.768514; captureRadius = 10; duration = 107; initialDepth = 921.984271; finalDepth = 922.679073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.679073 # Seafloor depth:-972.679073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.984271 meters looking forward 0.000000 meters along route # Maximum depth: 971.984271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.984271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.769125; captureRadius = 10; duration = 107; initialDepth = 920.617831; finalDepth = 921.984271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.984271 # Seafloor depth:-971.984271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 970.617831 meters looking forward 0.000000 meters along route # Maximum depth: 970.617831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.617831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.769782; captureRadius = 10; duration = 107; initialDepth = 926.206182; finalDepth = 920.617831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:920.617831 # Seafloor depth:-970.617831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.206182 meters looking forward 0.000000 meters along route # Maximum depth: 976.206182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.206182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735895; longitude = -121.770449; captureRadius = 10; duration = 107; initialDepth = 936.224336; finalDepth = 926.206182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.206182 # Seafloor depth:-976.206182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.224336 meters looking forward 0.000000 meters along route # Maximum depth: 986.224336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.224336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.771095; captureRadius = 10; duration = 107; initialDepth = 931.210279; finalDepth = 936.224336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.224336 # Seafloor depth:-986.224336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.210279 meters looking forward 0.000000 meters along route # Maximum depth: 981.210279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.210279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.771751; captureRadius = 10; duration = 107; initialDepth = 921.200304; finalDepth = 931.210279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.210279 # Seafloor depth:-981.210279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.200304 meters looking forward 0.000000 meters along route # Maximum depth: 971.200304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.200304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.772408; captureRadius = 10; duration = 107; initialDepth = 923.410106; finalDepth = 921.200304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.200304 # Seafloor depth:-971.200304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.410106 meters looking forward 0.000000 meters along route # Maximum depth: 973.410106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.410106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.773064; captureRadius = 10; duration = 107; initialDepth = 923.687114; finalDepth = 923.410106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.410106 # Seafloor depth:-973.410106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.687114 meters looking forward 0.000000 meters along route # Maximum depth: 973.687114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.687114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731705; longitude = -121.773766; captureRadius = 10; duration = 107; initialDepth = 924.285184; finalDepth = 923.687114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.687114 # Seafloor depth:-973.687114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.285184 meters looking forward 0.000000 meters along route # Maximum depth: 974.285184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.285184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.774377; captureRadius = 10; duration = 107; initialDepth = 929.276208; finalDepth = 924.285184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.285184 # Seafloor depth:-974.285184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.276208 meters looking forward 0.000000 meters along route # Maximum depth: 979.276208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.276208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.775033; captureRadius = 10; duration = 107; initialDepth = 931.502011; finalDepth = 929.276208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.276208 # Seafloor depth:-979.276208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.502011 meters looking forward 0.000000 meters along route # Maximum depth: 981.502011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.502011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729261; longitude = -121.775701; captureRadius = 10; duration = 107; initialDepth = 932.390062; finalDepth = 931.502011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.502011 # Seafloor depth:-981.502011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 982.390062 meters looking forward 0.000000 meters along route # Maximum depth: 982.390062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.390062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.776346; captureRadius = 10; duration = 107; initialDepth = 932.088321; finalDepth = 932.390062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.390062 # Seafloor depth:-982.390062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 982.088321 meters looking forward 0.000000 meters along route # Maximum depth: 982.088321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.088321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727616; longitude = -121.777003; captureRadius = 10; duration = 107; initialDepth = 934.104356; finalDepth = 932.088321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.088321 # Seafloor depth:-982.088321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 984.104356 meters looking forward 0.000000 meters along route # Maximum depth: 984.104356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.104356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726787; longitude = -121.777659; captureRadius = 10; duration = 107; initialDepth = 934.918497; finalDepth = 934.104356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.104356 # Seafloor depth:-984.104356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 984.918497 meters looking forward 0.000000 meters along route # Maximum depth: 984.918497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.918497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725958; longitude = -121.778316; captureRadius = 10; duration = 107; initialDepth = 936.970211; finalDepth = 934.918497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.918497 # Seafloor depth:-984.918497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.970211 meters looking forward 0.000000 meters along route # Maximum depth: 986.970211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.970211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725071; longitude = -121.779018; captureRadius = 10; duration = 107; initialDepth = 936.980649; finalDepth = 936.970211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.970211 # Seafloor depth:-986.970211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.980649 meters looking forward 0.000000 meters along route # Maximum depth: 986.980649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.980649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724299; longitude = -121.779629; captureRadius = 10; duration = 107; initialDepth = 939.706468; finalDepth = 936.980649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.980649 # Seafloor depth:-986.980649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 989.706468 meters looking forward 0.000000 meters along route # Maximum depth: 989.706468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.706468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723470; longitude = -121.780285; captureRadius = 10; duration = 107; initialDepth = 937.194901; finalDepth = 939.706468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.706468 # Seafloor depth:-989.706468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 987.194901 meters looking forward 0.000000 meters along route # Maximum depth: 987.194901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.194901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722627; longitude = -121.780952; captureRadius = 10; duration = 107; initialDepth = 940.331888; finalDepth = 937.194901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.194901 # Seafloor depth:-987.194901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.331888 meters looking forward 0.000000 meters along route # Maximum depth: 990.331888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.331888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.781598; captureRadius = 10; duration = 107; initialDepth = 940.658409; finalDepth = 940.331888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.331888 # Seafloor depth:-990.331888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.658409 meters looking forward 0.000000 meters along route # Maximum depth: 990.658409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.658409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.782254; captureRadius = 10; duration = 107; initialDepth = 938.030752; finalDepth = 940.658409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.658409 # Seafloor depth:-990.658409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.030752 meters looking forward 0.000000 meters along route # Maximum depth: 988.030752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.030752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.782911; captureRadius = 10; duration = 107; initialDepth = 939.815707; finalDepth = 938.030752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.030752 # Seafloor depth:-988.030752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 989.815707 meters looking forward 0.000000 meters along route # Maximum depth: 989.815707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.815707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719136; longitude = -121.783716; captureRadius = 10; duration = 107; initialDepth = 941.159149; finalDepth = 939.815707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.815707 # Seafloor depth:-989.815707 # 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 107.688650 meters # Minimum depth: 991.159149 meters looking forward 0.000000 meters along route # Maximum depth: 991.159149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.159149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718307; longitude = -121.784373; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 939.419131; finalDepth = 941.159149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.159149 # Seafloor depth:-991.159149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 989.419131 meters looking forward 0.000000 meters along route # Maximum depth: 989.419131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.419131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718107; longitude = -121.783993; captureRadius = 10; duration = 107; initialDepth = 937.854263; finalDepth = 939.419131; 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:939.419131 # Seafloor depth:-989.419131 # 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 107.688650 meters # Minimum depth: 987.854263 meters looking forward 0.000000 meters along route # Maximum depth: 987.854263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.854263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717573; longitude = -121.782979; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 936.675302; finalDepth = 937.854263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.854263 # Seafloor depth:-987.854263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.675302 meters looking forward 0.000000 meters along route # Maximum depth: 986.675302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.675302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.782469; captureRadius = 10; duration = 107; initialDepth = 940.680808; finalDepth = 936.675302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.675302 # Seafloor depth:-986.675302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 990.680808 meters looking forward 0.000000 meters along route # Maximum depth: 990.680808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.680808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719086; longitude = -121.781782; captureRadius = 10; duration = 107; initialDepth = 936.908741; finalDepth = 940.680808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.680808 # Seafloor depth:-990.680808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.908741 meters looking forward 0.000000 meters along route # Maximum depth: 986.908741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.908741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.781156; captureRadius = 10; duration = 107; initialDepth = 937.416300; finalDepth = 936.908741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.908741 # Seafloor depth:-986.908741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 987.416300 meters looking forward 0.000000 meters along route # Maximum depth: 987.416300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.416300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.780499; captureRadius = 10; duration = 107; initialDepth = 937.287197; finalDepth = 937.416300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.4163 # Seafloor depth:-987.416300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 987.287197 meters looking forward 0.000000 meters along route # Maximum depth: 987.287197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.287197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.779843; captureRadius = 10; duration = 107; initialDepth = 935.864339; finalDepth = 937.287197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.287197 # Seafloor depth:-987.287197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.864339 meters looking forward 0.000000 meters along route # Maximum depth: 985.864339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.864339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.779186; captureRadius = 10; duration = 107; initialDepth = 936.910142; finalDepth = 935.864339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.864339 # Seafloor depth:-985.864339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.910142 meters looking forward 0.000000 meters along route # Maximum depth: 986.910142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.910142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.778530; captureRadius = 10; duration = 107; initialDepth = 934.640340; finalDepth = 936.910142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.910142 # Seafloor depth:-986.910142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 984.640340 meters looking forward 0.000000 meters along route # Maximum depth: 984.640340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.640340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724023; longitude = -121.777874; captureRadius = 10; duration = 107; initialDepth = 935.822685; finalDepth = 934.640340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.64034 # Seafloor depth:-984.640340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.822685 meters looking forward 0.000000 meters along route # Maximum depth: 985.822685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.822685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724852; longitude = -121.777217; captureRadius = 10; duration = 107; initialDepth = 933.780703; finalDepth = 935.822685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.822685 # Seafloor depth:-985.822685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.780703 meters looking forward 0.000000 meters along route # Maximum depth: 983.780703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.780703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725720; longitude = -121.776530; captureRadius = 10; duration = 107; initialDepth = 935.085007; finalDepth = 933.780703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.780703 # Seafloor depth:-983.780703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.085007 meters looking forward 0.000000 meters along route # Maximum depth: 985.085007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.085007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726511; longitude = -121.775904; captureRadius = 10; duration = 107; initialDepth = 934.418628; finalDepth = 935.085007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.085007 # Seafloor depth:-985.085007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 984.418628 meters looking forward 0.000000 meters along route # Maximum depth: 984.418628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.418628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.775248; captureRadius = 10; duration = 107; initialDepth = 929.619898; finalDepth = 934.418628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.418628 # Seafloor depth:-984.418628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.619898 meters looking forward 0.000000 meters along route # Maximum depth: 979.619898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.619898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728169; longitude = -121.774591; captureRadius = 10; duration = 107; initialDepth = 930.711124; finalDepth = 929.619898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.619898 # Seafloor depth:-979.619898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.711124 meters looking forward 0.000000 meters along route # Maximum depth: 980.711124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.711124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728998; longitude = -121.773935; captureRadius = 10; duration = 107; initialDepth = 928.368206; finalDepth = 930.711124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.711124 # Seafloor depth:-980.711124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.368206 meters looking forward 0.000000 meters along route # Maximum depth: 978.368206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.368206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.773278; captureRadius = 10; duration = 107; initialDepth = 925.341777; finalDepth = 928.368206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.368206 # Seafloor depth:-978.368206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 975.341777 meters looking forward 0.000000 meters along route # Maximum depth: 975.341777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.341777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.772622; captureRadius = 10; duration = 107; initialDepth = 925.172403; finalDepth = 925.341777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.341777 # Seafloor depth:-975.341777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 975.172403 meters looking forward 0.000000 meters along route # Maximum depth: 975.172403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.172403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.771965; captureRadius = 10; duration = 107; initialDepth = 923.444734; finalDepth = 925.172403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.172403 # Seafloor depth:-975.172403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.444734 meters looking forward 0.000000 meters along route # Maximum depth: 973.444734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.444734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732354; longitude = -121.771278; captureRadius = 10; duration = 107; initialDepth = 922.848496; finalDepth = 923.444734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.444734 # Seafloor depth:-973.444734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.848496 meters looking forward 0.000000 meters along route # Maximum depth: 972.848496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.848496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733144; longitude = -121.770653; captureRadius = 10; duration = 107; initialDepth = 936.824095; finalDepth = 922.848496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.848496 # Seafloor depth:-972.848496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 986.824095 meters looking forward 0.000000 meters along route # Maximum depth: 986.824095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.824095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.769996; captureRadius = 10; duration = 107; initialDepth = 935.917801; finalDepth = 936.824095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.824095 # Seafloor depth:-986.824095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.917801 meters looking forward 0.000000 meters along route # Maximum depth: 985.917801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.917801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.769340; captureRadius = 10; duration = 107; initialDepth = 918.685194; finalDepth = 935.917801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.917801 # Seafloor depth:-985.917801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 968.685194 meters looking forward 0.000000 meters along route # Maximum depth: 968.685194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.685194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.768683; captureRadius = 10; duration = 107; initialDepth = 920.110975; finalDepth = 918.685194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.685194 # Seafloor depth:-968.685194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 970.110975 meters looking forward 0.000000 meters along route # Maximum depth: 970.110975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.110975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.768027; captureRadius = 10; duration = 107; initialDepth = 922.729479; finalDepth = 920.110975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:920.110975 # Seafloor depth:-970.110975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.729479 meters looking forward 0.000000 meters along route # Maximum depth: 972.729479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.729479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.767370; captureRadius = 10; duration = 107; initialDepth = 924.586974; finalDepth = 922.729479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.729479 # Seafloor depth:-972.729479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.586974 meters looking forward 0.000000 meters along route # Maximum depth: 974.586974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.586974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.766714; captureRadius = 10; duration = 107; initialDepth = 924.882239; finalDepth = 924.586974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.586974 # Seafloor depth:-974.586974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.882239 meters looking forward 0.000000 meters along route # Maximum depth: 974.882239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.882239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738987; longitude = -121.766027; captureRadius = 10; duration = 107; initialDepth = 924.002120; finalDepth = 924.882239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.882239 # Seafloor depth:-974.882239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.002120 meters looking forward 0.000000 meters along route # Maximum depth: 974.002120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.002120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.765401; captureRadius = 10; duration = 107; initialDepth = 925.010206; finalDepth = 924.002120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.00212 # Seafloor depth:-974.002120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 975.010206 meters looking forward 0.000000 meters along route # Maximum depth: 975.010206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.010206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.764744; captureRadius = 10; duration = 107; initialDepth = 926.734704; finalDepth = 925.010206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.010206 # Seafloor depth:-975.010206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.734704 meters looking forward 0.000000 meters along route # Maximum depth: 976.734704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.734704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.764088; captureRadius = 10; duration = 107; initialDepth = 923.730615; finalDepth = 926.734704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.734704 # Seafloor depth:-976.734704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.730615 meters looking forward 0.000000 meters along route # Maximum depth: 973.730615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.730615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.763431; captureRadius = 10; duration = 107; initialDepth = 926.769002; finalDepth = 923.730615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.730615 # Seafloor depth:-973.730615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.769002 meters looking forward 0.000000 meters along route # Maximum depth: 976.769002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.769002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743177; longitude = -121.762710; captureRadius = 10; duration = 107; initialDepth = 925.897125; finalDepth = 926.769002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.769002 # Seafloor depth:-976.769002 # 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 107.688650 meters # Minimum depth: 975.897125 meters looking forward 0.000000 meters along route # Maximum depth: 975.897125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.897125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744108; longitude = -121.761973; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 923.994870; finalDepth = 925.897125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.897125 # Seafloor depth:-975.897125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.994870 meters looking forward 0.000000 meters along route # Maximum depth: 973.994870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.994870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743914; longitude = -121.761604; captureRadius = 10; duration = 107; initialDepth = 922.125900; finalDepth = 923.994870; 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:923.99487 # Seafloor depth:-973.994870 # 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 107.688650 meters # Minimum depth: 972.125900 meters looking forward 0.000000 meters along route # Maximum depth: 972.125900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.125900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743375; longitude = -121.760579; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 922.267747; finalDepth = 922.125900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.1259 # Seafloor depth:-972.125900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.927299 meters looking forward 0.000000 meters along route # Maximum depth: 972.927299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.267747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.760582; captureRadius = 10; duration = 107; initialDepth = 922.630636; finalDepth = 922.267747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6595515000008 # Actual altitude: 50.6595515000008 # Commanded vehicle depth:922.267747499999 # Seafloor depth:-972.927299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 107.688650 meters # Minimum depth: 972.630636 meters looking forward 0.000000 meters along route # Maximum depth: 972.630636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.630636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.761238; captureRadius = 10; duration = 107; initialDepth = 922.666930; finalDepth = 922.630636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6595515000008 # Actual altitude: 50.6595515000008 # Commanded vehicle depth:922.630636 # Seafloor depth:-972.630636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 107.688650 meters # Minimum depth: 972.666930 meters looking forward 0.000000 meters along route # Maximum depth: 972.666930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.666930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.761895; captureRadius = 10; duration = 107; initialDepth = 918.296749; finalDepth = 922.666930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.66693 # Seafloor depth:-972.666930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 968.296749 meters looking forward 0.000000 meters along route # Maximum depth: 968.296749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.296749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.762551; captureRadius = 10; duration = 107; initialDepth = 922.319762; finalDepth = 918.296749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.296749 # Seafloor depth:-968.296749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.319762 meters looking forward 0.000000 meters along route # Maximum depth: 972.319762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.319762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739985; longitude = -121.763263; captureRadius = 10; duration = 107; initialDepth = 921.992610; finalDepth = 922.319762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.319762 # Seafloor depth:-972.319762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.992610 meters looking forward 0.000000 meters along route # Maximum depth: 971.992610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.992610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.763864; captureRadius = 10; duration = 107; initialDepth = 921.237285; finalDepth = 921.992610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.99261 # Seafloor depth:-971.992610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.237285 meters looking forward 0.000000 meters along route # Maximum depth: 971.237285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.237285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.764521; captureRadius = 10; duration = 107; initialDepth = 919.601565; finalDepth = 921.237285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.237285 # Seafloor depth:-971.237285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 969.601565 meters looking forward 0.000000 meters along route # Maximum depth: 969.601565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.601565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737541; longitude = -121.765197; captureRadius = 10; duration = 107; initialDepth = 920.725551; finalDepth = 919.601565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:919.601565 # Seafloor depth:-969.601565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 970.725551 meters looking forward 0.000000 meters along route # Maximum depth: 970.725551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.725551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.765834; captureRadius = 10; duration = 107; initialDepth = 919.117955; finalDepth = 920.725551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:920.725551 # Seafloor depth:-970.725551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 969.117955 meters looking forward 0.000000 meters along route # Maximum depth: 969.117955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.117955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.766490; captureRadius = 10; duration = 107; initialDepth = 930.410172; finalDepth = 919.117955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:919.117955 # Seafloor depth:-969.117955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.410172 meters looking forward 0.000000 meters along route # Maximum depth: 980.410172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.410172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.767147; captureRadius = 10; duration = 107; initialDepth = 938.089827; finalDepth = 930.410172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.410172 # Seafloor depth:-980.410172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.089827 meters looking forward 0.000000 meters along route # Maximum depth: 988.089827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.089827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.767803; captureRadius = 10; duration = 107; initialDepth = 925.147292; finalDepth = 938.089827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.089827 # Seafloor depth:-988.089827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 975.147292 meters looking forward 0.000000 meters along route # Maximum depth: 975.147292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.147292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733352; longitude = -121.768514; captureRadius = 10; duration = 107; initialDepth = 922.070194; finalDepth = 925.147292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.147292 # Seafloor depth:-975.147292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.070194 meters looking forward 0.000000 meters along route # Maximum depth: 972.070194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.070194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.769116; captureRadius = 10; duration = 107; initialDepth = 923.557683; finalDepth = 922.070194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.070194 # Seafloor depth:-972.070194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.557683 meters looking forward 0.000000 meters along route # Maximum depth: 973.557683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.557683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.769773; captureRadius = 10; duration = 107; initialDepth = 923.557162; finalDepth = 923.557683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.557683 # Seafloor depth:-973.557683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.557162 meters looking forward 0.000000 meters along route # Maximum depth: 973.557162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.557162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730908; longitude = -121.770449; captureRadius = 10; duration = 107; initialDepth = 925.574811; finalDepth = 923.557162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.557162 # Seafloor depth:-973.557162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 975.574811 meters looking forward 0.000000 meters along route # Maximum depth: 975.574811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.574811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.771086; captureRadius = 10; duration = 107; initialDepth = 928.363930; finalDepth = 925.574811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.574811 # Seafloor depth:-975.574811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.363930 meters looking forward 0.000000 meters along route # Maximum depth: 978.363930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.363930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.771742; captureRadius = 10; duration = 107; initialDepth = 930.513659; finalDepth = 928.363930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.36393 # Seafloor depth:-978.363930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.513659 meters looking forward 0.000000 meters along route # Maximum depth: 980.513659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.513659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.772399; captureRadius = 10; duration = 107; initialDepth = 928.092220; finalDepth = 930.513659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.513659 # Seafloor depth:-980.513659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.092220 meters looking forward 0.000000 meters along route # Maximum depth: 978.092220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.092220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727616; longitude = -121.773055; captureRadius = 10; duration = 107; initialDepth = 932.529890; finalDepth = 928.092220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.09222 # Seafloor depth:-978.092220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 982.529890 meters looking forward 0.000000 meters along route # Maximum depth: 982.529890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.529890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726718; longitude = -121.773766; captureRadius = 10; duration = 107; initialDepth = 932.406839; finalDepth = 932.529890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.52989 # Seafloor depth:-982.529890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 982.406839 meters looking forward 0.000000 meters along route # Maximum depth: 982.406839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.406839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725958; longitude = -121.774368; captureRadius = 10; duration = 107; initialDepth = 931.844971; finalDepth = 932.406839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.406839 # Seafloor depth:-982.406839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.844971 meters looking forward 0.000000 meters along route # Maximum depth: 981.844971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.844971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725128; longitude = -121.775024; captureRadius = 10; duration = 107; initialDepth = 933.252539; finalDepth = 931.844971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.844971 # Seafloor depth:-981.844971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.252539 meters looking forward 0.000000 meters along route # Maximum depth: 983.252539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.252539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724274; longitude = -121.775701; captureRadius = 10; duration = 107; initialDepth = 935.801883; finalDepth = 933.252539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.252539 # Seafloor depth:-983.252539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.801883 meters looking forward 0.000000 meters along route # Maximum depth: 985.801883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.801883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723470; longitude = -121.776337; captureRadius = 10; duration = 107; initialDepth = 938.452535; finalDepth = 935.801883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.801883 # Seafloor depth:-985.801883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.452535 meters looking forward 0.000000 meters along route # Maximum depth: 988.452535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.452535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.776994; captureRadius = 10; duration = 107; initialDepth = 931.614865; finalDepth = 938.452535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.452535 # Seafloor depth:-988.452535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.614865 meters looking forward 0.000000 meters along route # Maximum depth: 981.614865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.614865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.777650; captureRadius = 10; duration = 107; initialDepth = 933.789578; finalDepth = 931.614865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.614865 # Seafloor depth:-981.614865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.789578 meters looking forward 0.000000 meters along route # Maximum depth: 983.789578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.789578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.778307; captureRadius = 10; duration = 107; initialDepth = 933.091182; finalDepth = 933.789578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.789578 # Seafloor depth:-983.789578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.091182 meters looking forward 0.000000 meters along route # Maximum depth: 983.091182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.091182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720085; longitude = -121.779018; captureRadius = 10; duration = 107; initialDepth = 933.557064; finalDepth = 933.091182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.091182 # Seafloor depth:-983.091182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.557064 meters looking forward 0.000000 meters along route # Maximum depth: 983.557064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.557064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.779620; captureRadius = 10; duration = 107; initialDepth = 934.432392; finalDepth = 933.557064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.557064 # Seafloor depth:-983.557064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 984.432392 meters looking forward 0.000000 meters along route # Maximum depth: 984.432392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.432392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.780276; captureRadius = 10; duration = 107; initialDepth = 934.919138; finalDepth = 934.432392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.432392 # Seafloor depth:-984.432392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 984.919138 meters looking forward 0.000000 meters along route # Maximum depth: 984.919138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.919138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717641; longitude = -121.780952; captureRadius = 10; duration = 107; initialDepth = 936.820007; finalDepth = 934.919138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.919138 # Seafloor depth:-984.919138 # 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 107.688650 meters # Minimum depth: 986.820007 meters looking forward 0.000000 meters along route # Maximum depth: 986.820007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.820007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716840; longitude = -121.781586; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 935.521218; finalDepth = 936.820007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.820007 # Seafloor depth:-986.820007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.521218 meters looking forward 0.000000 meters along route # Maximum depth: 985.521218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.521218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716652; longitude = -121.781229; captureRadius = 10; duration = 107; initialDepth = 933.815903; finalDepth = 935.521218; 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:935.521218 # Seafloor depth:-985.521218 # 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 107.688650 meters # Minimum depth: 983.815903 meters looking forward 0.000000 meters along route # Maximum depth: 983.815903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.815903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716107; longitude = -121.780193; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 934.837634; finalDepth = 933.815903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.815903 # Seafloor depth:-983.815903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 984.837634 meters looking forward 0.000000 meters along route # Maximum depth: 984.837634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.837634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716893; longitude = -121.779570; captureRadius = 10; duration = 107; initialDepth = 931.358073; finalDepth = 934.837634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.837634 # Seafloor depth:-984.837634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.358073 meters looking forward 0.000000 meters along route # Maximum depth: 981.358073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.358073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717666; longitude = -121.778959; captureRadius = 10; duration = 107; initialDepth = 931.452772; finalDepth = 931.358073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.358073 # Seafloor depth:-981.358073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.452772 meters looking forward 0.000000 meters along route # Maximum depth: 981.452772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.452772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.778302; captureRadius = 10; duration = 107; initialDepth = 928.617880; finalDepth = 931.452772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.452772 # Seafloor depth:-981.452772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.617880 meters looking forward 0.000000 meters along route # Maximum depth: 978.617880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.617880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719337; longitude = -121.777636; captureRadius = 10; duration = 107; initialDepth = 933.607017; finalDepth = 928.617880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.61788 # Seafloor depth:-978.617880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 983.607017 meters looking forward 0.000000 meters along route # Maximum depth: 983.607017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.607017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.776989; captureRadius = 10; duration = 107; initialDepth = 928.753159; finalDepth = 933.607017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.607017 # Seafloor depth:-983.607017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.753159 meters looking forward 0.000000 meters along route # Maximum depth: 978.753159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.753159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.776333; captureRadius = 10; duration = 107; initialDepth = 930.530484; finalDepth = 928.753159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.753159 # Seafloor depth:-978.753159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.530484 meters looking forward 0.000000 meters along route # Maximum depth: 980.530484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.530484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.775677; captureRadius = 10; duration = 107; initialDepth = 932.027325; finalDepth = 930.530484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.530484 # Seafloor depth:-980.530484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 982.027325 meters looking forward 0.000000 meters along route # Maximum depth: 982.027325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.027325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.775020; captureRadius = 10; duration = 107; initialDepth = 932.113801; finalDepth = 932.027325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.027325 # Seafloor depth:-982.027325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 982.113801 meters looking forward 0.000000 meters along route # Maximum depth: 982.113801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.113801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723527; longitude = -121.774319; captureRadius = 10; duration = 107; initialDepth = 927.600293; finalDepth = 932.113801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.113801 # Seafloor depth:-982.113801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 977.600293 meters looking forward 0.000000 meters along route # Maximum depth: 977.600293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.600293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724299; longitude = -121.773707; captureRadius = 10; duration = 107; initialDepth = 929.383608; finalDepth = 927.600293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.600293 # Seafloor depth:-977.600293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.383608 meters looking forward 0.000000 meters along route # Maximum depth: 979.383608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.383608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725128; longitude = -121.773051; captureRadius = 10; duration = 107; initialDepth = 930.247930; finalDepth = 929.383608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.383608 # Seafloor depth:-979.383608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.247930 meters looking forward 0.000000 meters along route # Maximum depth: 980.247930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.247930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725971; longitude = -121.772384; captureRadius = 10; duration = 107; initialDepth = 926.357169; finalDepth = 930.247930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.24793 # Seafloor depth:-980.247930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.357169 meters looking forward 0.000000 meters along route # Maximum depth: 976.357169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.357169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726787; longitude = -121.771738; captureRadius = 10; duration = 107; initialDepth = 929.047268; finalDepth = 926.357169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.357169 # Seafloor depth:-976.357169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.047268 meters looking forward 0.000000 meters along route # Maximum depth: 979.047268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.047268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727616; longitude = -121.771081; captureRadius = 10; duration = 107; initialDepth = 927.276303; finalDepth = 929.047268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.047268 # Seafloor depth:-979.047268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 977.276303 meters looking forward 0.000000 meters along route # Maximum depth: 977.276303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.276303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.770425; captureRadius = 10; duration = 107; initialDepth = 926.602353; finalDepth = 927.276303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.276303 # Seafloor depth:-977.276303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.602353 meters looking forward 0.000000 meters along route # Maximum depth: 976.602353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.602353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.769768; captureRadius = 10; duration = 107; initialDepth = 923.433545; finalDepth = 926.602353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.602353 # Seafloor depth:-976.602353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.433545 meters looking forward 0.000000 meters along route # Maximum depth: 973.433545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.433545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730160; longitude = -121.769067; captureRadius = 10; duration = 107; initialDepth = 920.751819; finalDepth = 923.433545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.433545 # Seafloor depth:-973.433545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 970.751819 meters looking forward 0.000000 meters along route # Maximum depth: 970.751819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.751819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.768455; captureRadius = 10; duration = 107; initialDepth = 918.954844; finalDepth = 920.751819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:920.751819 # Seafloor depth:-970.751819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 968.954844 meters looking forward 0.000000 meters along route # Maximum depth: 968.954844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.954844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.767799; captureRadius = 10; duration = 107; initialDepth = 915.538925; finalDepth = 918.954844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.954844 # Seafloor depth:-968.954844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 965.538925 meters looking forward 0.000000 meters along route # Maximum depth: 965.538925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.538925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732604; longitude = -121.767132; captureRadius = 10; duration = 107; initialDepth = 928.038210; finalDepth = 915.538925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.538925 # Seafloor depth:-965.538925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.038210 meters looking forward 0.000000 meters along route # Maximum depth: 978.038210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.038210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.766486; captureRadius = 10; duration = 107; initialDepth = 938.738752; finalDepth = 928.038210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.03821 # Seafloor depth:-978.038210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 988.738752 meters looking forward 0.000000 meters along route # Maximum depth: 988.738752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.738752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.765829; captureRadius = 10; duration = 107; initialDepth = 919.423073; finalDepth = 938.738752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.738752 # Seafloor depth:-988.738752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 969.423073 meters looking forward 0.000000 meters along route # Maximum depth: 969.423073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.423073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.765173; captureRadius = 10; duration = 107; initialDepth = 917.969116; finalDepth = 919.423073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:919.423073 # Seafloor depth:-969.423073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 967.969116 meters looking forward 0.000000 meters along route # Maximum depth: 967.969116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.969116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.764516; captureRadius = 10; duration = 107; initialDepth = 919.288608; finalDepth = 917.969116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.969116 # Seafloor depth:-967.969116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 969.288608 meters looking forward 0.000000 meters along route # Maximum depth: 969.288608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.288608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736794; longitude = -121.763815; captureRadius = 10; duration = 107; initialDepth = 918.017490; finalDepth = 919.288608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:919.288608 # Seafloor depth:-969.288608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 968.017490 meters looking forward 0.000000 meters along route # Maximum depth: 968.017490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.017490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.763203; captureRadius = 10; duration = 107; initialDepth = 921.381302; finalDepth = 918.017490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.01749 # Seafloor depth:-968.017490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.381302 meters looking forward 0.000000 meters along route # Maximum depth: 971.381302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.381302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.762547; captureRadius = 10; duration = 107; initialDepth = 921.105549; finalDepth = 921.381302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.381302 # Seafloor depth:-971.381302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.105549 meters looking forward 0.000000 meters along route # Maximum depth: 971.105549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.105549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739237; longitude = -121.761881; captureRadius = 10; duration = 107; initialDepth = 920.113430; finalDepth = 921.105549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.105549 # Seafloor depth:-971.105549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 970.113430 meters looking forward 0.000000 meters along route # Maximum depth: 970.113430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.113430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.761234; captureRadius = 10; duration = 107; initialDepth = 920.667384; finalDepth = 920.113430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:920.11343 # Seafloor depth:-970.113430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 970.667384 meters looking forward 0.000000 meters along route # Maximum depth: 970.667384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.667384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.760577; captureRadius = 10; duration = 107; initialDepth = 918.887896; finalDepth = 920.667384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:920.667384 # Seafloor depth:-970.667384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 968.887896 meters looking forward 0.000000 meters along route # Maximum depth: 968.887896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.887896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.759921; captureRadius = 10; duration = 107; initialDepth = 922.007431; finalDepth = 918.887896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.887896 # Seafloor depth:-968.887896 # 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 107.688650 meters # Minimum depth: 972.007431 meters looking forward 0.000000 meters along route # Maximum depth: 972.007431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.007431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742641; longitude = -121.759186; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 923.071011; finalDepth = 922.007431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.007431 # Seafloor depth:-972.007431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.071011 meters looking forward 0.000000 meters along route # Maximum depth: 973.071011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.071011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742459; longitude = -121.758840; captureRadius = 10; duration = 107; initialDepth = 918.392624; finalDepth = 923.071011; 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:923.071011 # Seafloor depth:-973.071011 # 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 107.688650 meters # Minimum depth: 968.392624 meters looking forward 0.000000 meters along route # Maximum depth: 968.392624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.392624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741908; longitude = -121.757792; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 918.117007; finalDepth = 918.392624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.392624 # Seafloor depth:-968.392624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 968.117007 meters looking forward 0.000000 meters along route # Maximum depth: 968.117007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.117007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.757946; captureRadius = 10; duration = 107; initialDepth = 917.016409; finalDepth = 918.117007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.117007 # Seafloor depth:-968.117007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 967.016409 meters looking forward 0.000000 meters along route # Maximum depth: 967.016409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.016409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.758600; captureRadius = 10; duration = 107; initialDepth = 916.875077; finalDepth = 917.016409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.016409 # Seafloor depth:-967.016409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 966.875077 meters looking forward 0.000000 meters along route # Maximum depth: 966.875077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.875077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.759253; captureRadius = 10; duration = 107; initialDepth = 917.417841; finalDepth = 916.875077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:916.875077 # Seafloor depth:-966.875077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 967.417841 meters looking forward 0.000000 meters along route # Maximum depth: 967.417841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.417841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739176; longitude = -121.759946; captureRadius = 10; duration = 107; initialDepth = 917.739711; finalDepth = 917.417841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.417841 # Seafloor depth:-967.417841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 967.739711 meters looking forward 0.000000 meters along route # Maximum depth: 967.739711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.739711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.760560; captureRadius = 10; duration = 107; initialDepth = 916.710936; finalDepth = 917.739711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.739711 # Seafloor depth:-967.739711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 966.710936 meters looking forward 0.000000 meters along route # Maximum depth: 966.710936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.710936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.761214; captureRadius = 10; duration = 107; initialDepth = 915.801787; finalDepth = 916.710936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:916.710936 # Seafloor depth:-966.710936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 965.801787 meters looking forward 0.000000 meters along route # Maximum depth: 965.801787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.801787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736721; longitude = -121.761881; captureRadius = 10; duration = 107; initialDepth = 917.455978; finalDepth = 915.801787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.801787 # Seafloor depth:-965.801787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 967.455978 meters looking forward 0.000000 meters along route # Maximum depth: 967.455978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.455978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.762521; captureRadius = 10; duration = 107; initialDepth = 916.325710; finalDepth = 917.455978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.455978 # Seafloor depth:-967.455978 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 966.325710 meters looking forward 0.000000 meters along route # Maximum depth: 966.325710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.325710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.763175; captureRadius = 10; duration = 107; initialDepth = 916.766209; finalDepth = 916.325710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:916.32571 # Seafloor depth:-966.325710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 966.766209 meters looking forward 0.000000 meters along route # Maximum depth: 966.766209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.766209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.763828; captureRadius = 10; duration = 107; initialDepth = 925.542331; finalDepth = 916.766209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:916.766209 # Seafloor depth:-966.766209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 975.542331 meters looking forward 0.000000 meters along route # Maximum depth: 975.542331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.542331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.764482; captureRadius = 10; duration = 107; initialDepth = 935.715559; finalDepth = 925.542331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.542331 # Seafloor depth:-975.542331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 985.715559 meters looking forward 0.000000 meters along route # Maximum depth: 985.715559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.715559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.765136; captureRadius = 10; duration = 107; initialDepth = 934.507660; finalDepth = 935.715559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.715559 # Seafloor depth:-985.715559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 984.507660 meters looking forward 0.000000 meters along route # Maximum depth: 984.507660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.507660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.765789; captureRadius = 10; duration = 107; initialDepth = 919.621707; finalDepth = 934.507660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.50766 # Seafloor depth:-984.507660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 969.621707 meters looking forward 0.000000 meters along route # Maximum depth: 969.621707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.621707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.766443; captureRadius = 10; duration = 107; initialDepth = 919.292613; finalDepth = 919.621707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:919.621707 # Seafloor depth:-969.621707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 969.292613 meters looking forward 0.000000 meters along route # Maximum depth: 969.292613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.292613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730058; longitude = -121.767132; captureRadius = 10; duration = 107; initialDepth = 922.921258; finalDepth = 919.292613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:919.292613 # Seafloor depth:-969.292613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.921258 meters looking forward 0.000000 meters along route # Maximum depth: 972.921258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.921258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.767750; captureRadius = 10; duration = 107; initialDepth = 921.355278; finalDepth = 922.921258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.921258 # Seafloor depth:-972.921258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.355278 meters looking forward 0.000000 meters along route # Maximum depth: 971.355278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.355278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.768404; captureRadius = 10; duration = 107; initialDepth = 922.991136; finalDepth = 921.355278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.355278 # Seafloor depth:-971.355278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.991136 meters looking forward 0.000000 meters along route # Maximum depth: 972.991136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.991136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727604; longitude = -121.769067; captureRadius = 10; duration = 107; initialDepth = 924.431140; finalDepth = 922.991136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.991136 # Seafloor depth:-972.991136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.431140 meters looking forward 0.000000 meters along route # Maximum depth: 974.431140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.431140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726787; longitude = -121.769711; captureRadius = 10; duration = 107; initialDepth = 926.158467; finalDepth = 924.431140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.43114 # Seafloor depth:-974.431140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.158467 meters looking forward 0.000000 meters along route # Maximum depth: 976.158467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.158467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725958; longitude = -121.770365; captureRadius = 10; duration = 107; initialDepth = 930.529466; finalDepth = 926.158467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.158467 # Seafloor depth:-976.158467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.529466 meters looking forward 0.000000 meters along route # Maximum depth: 980.529466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.529466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725128; longitude = -121.771018; captureRadius = 10; duration = 107; initialDepth = 927.232975; finalDepth = 930.529466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.529466 # Seafloor depth:-980.529466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 977.232975 meters looking forward 0.000000 meters along route # Maximum depth: 977.232975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.232975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724299; longitude = -121.771672; captureRadius = 10; duration = 107; initialDepth = 928.906172; finalDepth = 927.232975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.232975 # Seafloor depth:-977.232975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.906172 meters looking forward 0.000000 meters along route # Maximum depth: 978.906172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.906172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723470; longitude = -121.772325; captureRadius = 10; duration = 107; initialDepth = 927.751964; finalDepth = 928.906172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.906172 # Seafloor depth:-978.906172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 977.751964 meters looking forward 0.000000 meters along route # Maximum depth: 977.751964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.751964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.772979; captureRadius = 10; duration = 107; initialDepth = 928.016579; finalDepth = 927.751964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.751964 # Seafloor depth:-977.751964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.016579 meters looking forward 0.000000 meters along route # Maximum depth: 978.016579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.016579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.773633; captureRadius = 10; duration = 107; initialDepth = 927.866448; finalDepth = 928.016579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.016579 # Seafloor depth:-978.016579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 977.866448 meters looking forward 0.000000 meters along route # Maximum depth: 977.866448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.866448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720941; longitude = -121.774319; captureRadius = 10; duration = 107; initialDepth = 927.162198; finalDepth = 927.866448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.866448 # Seafloor depth:-977.866448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 977.162198 meters looking forward 0.000000 meters along route # Maximum depth: 977.162198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.162198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.774940; captureRadius = 10; duration = 107; initialDepth = 931.689305; finalDepth = 927.162198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.162198 # Seafloor depth:-977.162198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.689305 meters looking forward 0.000000 meters along route # Maximum depth: 981.689305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.689305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.775593; captureRadius = 10; duration = 107; initialDepth = 930.757742; finalDepth = 931.689305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.689305 # Seafloor depth:-981.689305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.757742 meters looking forward 0.000000 meters along route # Maximum depth: 980.757742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.757742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718487; longitude = -121.776254; captureRadius = 10; duration = 107; initialDepth = 928.162851; finalDepth = 930.757742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.757742 # Seafloor depth:-980.757742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.162851 meters looking forward 0.000000 meters along route # Maximum depth: 978.162851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.162851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717666; longitude = -121.776901; captureRadius = 10; duration = 107; initialDepth = 930.828515; finalDepth = 928.162851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.162851 # Seafloor depth:-978.162851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.828515 meters looking forward 0.000000 meters along route # Maximum depth: 980.828515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.828515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716733; longitude = -121.777636; captureRadius = 10; duration = 107; initialDepth = 930.239421; finalDepth = 930.828515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.828515 # Seafloor depth:-980.828515 # 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 107.688650 meters # Minimum depth: 980.239421 meters looking forward 0.000000 meters along route # Maximum depth: 980.239421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.239421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715915; longitude = -121.778280; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 929.908529; finalDepth = 930.239421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.239421 # Seafloor depth:-980.239421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.908529 meters looking forward 0.000000 meters along route # Maximum depth: 979.908529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.908529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715915; longitude = -121.777636; captureRadius = 10; duration = 107; initialDepth = 928.856608; finalDepth = 929.908529; 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:929.908529 # Seafloor depth:-979.908529 # 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 107.688650 meters # Minimum depth: 978.856608 meters looking forward 0.000000 meters along route # Maximum depth: 978.856608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.856608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715915; longitude = -121.776346; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 928.235088; finalDepth = 928.856608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.856608 # Seafloor depth:-978.856608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.235088 meters looking forward 0.000000 meters along route # Maximum depth: 978.235088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.235088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716284; longitude = -121.776055; captureRadius = 10; duration = 107; initialDepth = 929.161871; finalDepth = 928.235088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.235088 # Seafloor depth:-978.235088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.161871 meters looking forward 0.000000 meters along route # Maximum depth: 979.161871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.161871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717113; longitude = -121.775400; captureRadius = 10; duration = 107; initialDepth = 930.693610; finalDepth = 929.161871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.161871 # Seafloor depth:-979.161871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 980.693610 meters looking forward 0.000000 meters along route # Maximum depth: 980.693610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.693610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717942; longitude = -121.774745; captureRadius = 10; duration = 107; initialDepth = 928.189830; finalDepth = 930.693610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.69361 # Seafloor depth:-980.693610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.189830 meters looking forward 0.000000 meters along route # Maximum depth: 978.189830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.189830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718832; longitude = -121.774042; captureRadius = 10; duration = 107; initialDepth = 927.110265; finalDepth = 928.189830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.18983 # Seafloor depth:-978.189830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 977.110265 meters looking forward 0.000000 meters along route # Maximum depth: 977.110265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.110265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.773435; captureRadius = 10; duration = 107; initialDepth = 926.429416; finalDepth = 927.110265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.110265 # Seafloor depth:-977.110265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.429416 meters looking forward 0.000000 meters along route # Maximum depth: 976.429416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.429416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.772781; captureRadius = 10; duration = 107; initialDepth = 924.083807; finalDepth = 926.429416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.429416 # Seafloor depth:-976.429416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.083807 meters looking forward 0.000000 meters along route # Maximum depth: 974.083807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.083807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721282; longitude = -121.772107; captureRadius = 10; duration = 107; initialDepth = 925.318527; finalDepth = 924.083807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.083807 # Seafloor depth:-974.083807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 975.318527 meters looking forward 0.000000 meters along route # Maximum depth: 975.318527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.318527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.771471; captureRadius = 10; duration = 107; initialDepth = 926.202597; finalDepth = 925.318527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.318527 # Seafloor depth:-975.318527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.202597 meters looking forward 0.000000 meters along route # Maximum depth: 976.202597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.202597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722917; longitude = -121.770816; captureRadius = 10; duration = 107; initialDepth = 921.753255; finalDepth = 926.202597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.202597 # Seafloor depth:-976.202597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.753255 meters looking forward 0.000000 meters along route # Maximum depth: 971.753255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.753255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723746; longitude = -121.770161; captureRadius = 10; duration = 107; initialDepth = 922.854428; finalDepth = 921.753255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.753255 # Seafloor depth:-971.753255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.854428 meters looking forward 0.000000 meters along route # Maximum depth: 972.854428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.854428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724576; longitude = -121.769506; captureRadius = 10; duration = 107; initialDepth = 924.218115; finalDepth = 922.854428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.854428 # Seafloor depth:-972.854428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.218115 meters looking forward 0.000000 meters along route # Maximum depth: 974.218115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.218115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725405; longitude = -121.768852; captureRadius = 10; duration = 107; initialDepth = 924.831677; finalDepth = 924.218115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.218115 # Seafloor depth:-974.218115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.831677 meters looking forward 0.000000 meters along route # Maximum depth: 974.831677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.831677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726234; longitude = -121.768197; captureRadius = 10; duration = 107; initialDepth = 922.297045; finalDepth = 924.831677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.831677 # Seafloor depth:-974.831677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.297045 meters looking forward 0.000000 meters along route # Maximum depth: 972.297045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.297045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727063; longitude = -121.767542; captureRadius = 10; duration = 107; initialDepth = 922.265336; finalDepth = 922.297045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.297045 # Seafloor depth:-972.297045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.265336 meters looking forward 0.000000 meters along route # Maximum depth: 972.265336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.265336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727932; longitude = -121.766856; captureRadius = 10; duration = 107; initialDepth = 923.349386; finalDepth = 922.265336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.265336 # Seafloor depth:-972.265336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.349386 meters looking forward 0.000000 meters along route # Maximum depth: 973.349386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.349386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728722; longitude = -121.766232; captureRadius = 10; duration = 107; initialDepth = 931.346235; finalDepth = 923.349386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.349386 # Seafloor depth:-973.349386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 981.346235 meters looking forward 0.000000 meters along route # Maximum depth: 981.346235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.346235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729551; longitude = -121.765578; captureRadius = 10; duration = 107; initialDepth = 932.389944; finalDepth = 931.346235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.346235 # Seafloor depth:-981.346235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 982.389944 meters looking forward 0.000000 meters along route # Maximum depth: 982.389944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.389944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730382; longitude = -121.764921; captureRadius = 10; duration = 107; initialDepth = 925.727585; finalDepth = 932.389944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.389944 # Seafloor depth:-982.389944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 975.727585 meters looking forward 0.000000 meters along route # Maximum depth: 975.727585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.727585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731209; longitude = -121.764268; captureRadius = 10; duration = 107; initialDepth = 922.572067; finalDepth = 925.727585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.727585 # Seafloor depth:-975.727585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.572067 meters looking forward 0.000000 meters along route # Maximum depth: 972.572067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.572067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.763613; captureRadius = 10; duration = 107; initialDepth = 913.107866; finalDepth = 922.572067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.572067 # Seafloor depth:-972.572067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 963.107866 meters looking forward 0.000000 meters along route # Maximum depth: 963.107866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.107866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.762958; captureRadius = 10; duration = 107; initialDepth = 915.218719; finalDepth = 913.107866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:913.107866 # Seafloor depth:-963.107866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 965.218719 meters looking forward 0.000000 meters along route # Maximum depth: 965.218719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.218719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.762303; captureRadius = 10; duration = 107; initialDepth = 913.902291; finalDepth = 915.218719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.218719 # Seafloor depth:-965.218719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 963.902291 meters looking forward 0.000000 meters along route # Maximum depth: 963.902291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.902291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734583; longitude = -121.761604; captureRadius = 10; duration = 107; initialDepth = 915.058407; finalDepth = 913.902291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:913.902291 # Seafloor depth:-963.902291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 965.058407 meters looking forward 0.000000 meters along route # Maximum depth: 965.058407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.058407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.760994; captureRadius = 10; duration = 107; initialDepth = 918.080949; finalDepth = 915.058407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.058407 # Seafloor depth:-965.058407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 968.080949 meters looking forward 0.000000 meters along route # Maximum depth: 968.080949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.080949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.760339; captureRadius = 10; duration = 107; initialDepth = 915.442109; finalDepth = 918.080949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.080949 # Seafloor depth:-968.080949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 965.442109 meters looking forward 0.000000 meters along route # Maximum depth: 965.442109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.442109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737033; longitude = -121.759669; captureRadius = 10; duration = 107; initialDepth = 915.001137; finalDepth = 915.442109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.442109 # Seafloor depth:-965.442109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 965.001137 meters looking forward 0.000000 meters along route # Maximum depth: 965.001137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.001137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.759029; captureRadius = 10; duration = 107; initialDepth = 914.455722; finalDepth = 915.001137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.001137 # Seafloor depth:-965.001137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 964.455722 meters looking forward 0.000000 meters along route # Maximum depth: 964.455722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.455722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.758375; captureRadius = 10; duration = 107; initialDepth = 913.992448; finalDepth = 914.455722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:914.455722 # Seafloor depth:-964.455722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 963.992448 meters looking forward 0.000000 meters along route # Maximum depth: 963.992448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.992448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.757720; captureRadius = 10; duration = 107; initialDepth = 915.377758; finalDepth = 913.992448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:913.992448 # Seafloor depth:-963.992448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 965.377758 meters looking forward 0.000000 meters along route # Maximum depth: 965.377758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.377758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.757065; captureRadius = 10; duration = 107; initialDepth = 916.340164; finalDepth = 915.377758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.377758 # Seafloor depth:-965.377758 # 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 107.688650 meters # Minimum depth: 966.340164 meters looking forward 0.000000 meters along route # Maximum depth: 966.340164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.340164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741174; longitude = -121.756399; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 915.919021; finalDepth = 916.340164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:916.340164 # Seafloor depth:-966.340164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 965.919021 meters looking forward 0.000000 meters along route # Maximum depth: 965.919021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.919021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741004; longitude = -121.756076; captureRadius = 10; duration = 107; initialDepth = 913.568832; finalDepth = 915.919021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.919021 # Seafloor depth:-965.919021 # 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 107.688650 meters # Minimum depth: 963.568832 meters looking forward 0.000000 meters along route # Maximum depth: 963.568832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.568832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740441; longitude = -121.755006; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 910.348060; finalDepth = 913.568832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:913.568832 # Seafloor depth:-963.568832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 960.348060 meters looking forward 0.000000 meters along route # Maximum depth: 960.348060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.348060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.755311; captureRadius = 10; duration = 107; initialDepth = 913.245618; finalDepth = 910.348060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:910.34806 # Seafloor depth:-960.348060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 963.245618 meters looking forward 0.000000 meters along route # Maximum depth: 963.245618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.245618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.755967; captureRadius = 10; duration = 107; initialDepth = 914.366237; finalDepth = 913.245618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:913.245618 # Seafloor depth:-963.245618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 964.366237 meters looking forward 0.000000 meters along route # Maximum depth: 964.366237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.366237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738389; longitude = -121.756629; captureRadius = 10; duration = 107; initialDepth = 914.500594; finalDepth = 914.366237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:914.366237 # Seafloor depth:-964.366237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 964.500594 meters looking forward 0.000000 meters along route # Maximum depth: 964.500594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.500594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.757279; captureRadius = 10; duration = 107; initialDepth = 912.738885; finalDepth = 914.500594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:914.500594 # Seafloor depth:-964.500594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 962.738885 meters looking forward 0.000000 meters along route # Maximum depth: 962.738885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 912.738885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.757936; captureRadius = 10; duration = 107; initialDepth = 913.605231; finalDepth = 912.738885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:912.738885 # Seafloor depth:-962.738885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 963.605231 meters looking forward 0.000000 meters along route # Maximum depth: 963.605231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.605231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.758592; captureRadius = 10; duration = 107; initialDepth = 911.023251; finalDepth = 913.605231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:913.605231 # Seafloor depth:-963.605231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 961.023251 meters looking forward 0.000000 meters along route # Maximum depth: 961.023251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.023251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.759248; captureRadius = 10; duration = 107; initialDepth = 913.833109; finalDepth = 911.023251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:911.023251 # Seafloor depth:-961.023251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 963.833109 meters looking forward 0.000000 meters along route # Maximum depth: 963.833109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.833109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734197; longitude = -121.759946; captureRadius = 10; duration = 107; initialDepth = 910.090537; finalDepth = 913.833109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:913.833109 # Seafloor depth:-963.833109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 960.090537 meters looking forward 0.000000 meters along route # Maximum depth: 960.090537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.090537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.760560; captureRadius = 10; duration = 107; initialDepth = 922.588442; finalDepth = 910.090537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:910.090537 # Seafloor depth:-960.090537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.588442 meters looking forward 0.000000 meters along route # Maximum depth: 972.588442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.588442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.761216; captureRadius = 10; duration = 107; initialDepth = 923.570987; finalDepth = 922.588442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.588442 # Seafloor depth:-972.588442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.570987 meters looking forward 0.000000 meters along route # Maximum depth: 973.570987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.570987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731752; longitude = -121.761881; captureRadius = 10; duration = 107; initialDepth = 926.347473; finalDepth = 923.570987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.570987 # Seafloor depth:-973.570987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.347473 meters looking forward 0.000000 meters along route # Maximum depth: 976.347473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.347473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.762528; captureRadius = 10; duration = 107; initialDepth = 923.367295; finalDepth = 926.347473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.347473 # Seafloor depth:-976.347473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.367295 meters looking forward 0.000000 meters along route # Maximum depth: 973.367295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.367295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.763184; captureRadius = 10; duration = 107; initialDepth = 928.484263; finalDepth = 923.367295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.367295 # Seafloor depth:-973.367295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.484263 meters looking forward 0.000000 meters along route # Maximum depth: 978.484263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.484263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.763840; captureRadius = 10; duration = 107; initialDepth = 929.842075; finalDepth = 928.484263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.484263 # Seafloor depth:-978.484263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 979.842075 meters looking forward 0.000000 meters along route # Maximum depth: 979.842075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.842075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.764497; captureRadius = 10; duration = 107; initialDepth = 918.692475; finalDepth = 929.842075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.842075 # Seafloor depth:-979.842075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 968.692475 meters looking forward 0.000000 meters along route # Maximum depth: 968.692475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.692475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727560; longitude = -121.765197; captureRadius = 10; duration = 107; initialDepth = 921.363138; finalDepth = 918.692475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.692475 # Seafloor depth:-968.692475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.363138 meters looking forward 0.000000 meters along route # Maximum depth: 971.363138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.363138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726787; longitude = -121.765809; captureRadius = 10; duration = 107; initialDepth = 917.542400; finalDepth = 921.363138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.363138 # Seafloor depth:-971.363138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 967.542400 meters looking forward 0.000000 meters along route # Maximum depth: 967.542400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.542400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725958; longitude = -121.766465; captureRadius = 10; duration = 107; initialDepth = 919.737976; finalDepth = 917.542400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.5424 # Seafloor depth:-967.542400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 969.737976 meters looking forward 0.000000 meters along route # Maximum depth: 969.737976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.737976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725114; longitude = -121.767132; captureRadius = 10; duration = 107; initialDepth = 921.063140; finalDepth = 919.737976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:919.737976 # Seafloor depth:-969.737976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.063140 meters looking forward 0.000000 meters along route # Maximum depth: 971.063140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.063140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724299; longitude = -121.767777; captureRadius = 10; duration = 107; initialDepth = 920.321101; finalDepth = 921.063140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.06314 # Seafloor depth:-971.063140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 970.321101 meters looking forward 0.000000 meters along route # Maximum depth: 970.321101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.321101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723470; longitude = -121.768433; captureRadius = 10; duration = 107; initialDepth = 922.057194; finalDepth = 920.321101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:920.321101 # Seafloor depth:-970.321101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.057194 meters looking forward 0.000000 meters along route # Maximum depth: 972.057194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.057194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.769089; captureRadius = 10; duration = 107; initialDepth = 921.507302; finalDepth = 922.057194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.057194 # Seafloor depth:-972.057194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.507302 meters looking forward 0.000000 meters along route # Maximum depth: 971.507302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.507302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.769745; captureRadius = 10; duration = 107; initialDepth = 923.069458; finalDepth = 921.507302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.507302 # Seafloor depth:-971.507302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.069458 meters looking forward 0.000000 meters along route # Maximum depth: 973.069458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.069458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720922; longitude = -121.770449; captureRadius = 10; duration = 107; initialDepth = 922.899020; finalDepth = 923.069458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.069458 # Seafloor depth:-973.069458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.899020 meters looking forward 0.000000 meters along route # Maximum depth: 972.899020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.899020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.771057; captureRadius = 10; duration = 107; initialDepth = 923.247459; finalDepth = 922.899020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.89902 # Seafloor depth:-972.899020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.247459 meters looking forward 0.000000 meters along route # Maximum depth: 973.247459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.247459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.771714; captureRadius = 10; duration = 107; initialDepth = 921.408508; finalDepth = 923.247459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.247459 # Seafloor depth:-973.247459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.408508 meters looking forward 0.000000 meters along route # Maximum depth: 971.408508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.408508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718477; longitude = -121.772384; captureRadius = 10; duration = 107; initialDepth = 925.220525; finalDepth = 921.408508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.408508 # Seafloor depth:-971.408508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 975.220525 meters looking forward 0.000000 meters along route # Maximum depth: 975.220525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.220525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717666; longitude = -121.773026; captureRadius = 10; duration = 107; initialDepth = 926.588346; finalDepth = 925.220525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.220525 # Seafloor depth:-975.220525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.588346 meters looking forward 0.000000 meters along route # Maximum depth: 976.588346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.588346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716730; longitude = -121.773766; captureRadius = 10; duration = 107; initialDepth = 928.452962; finalDepth = 926.588346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.588346 # Seafloor depth:-976.588346 # 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 107.688650 meters # Minimum depth: 978.452962 meters looking forward 0.000000 meters along route # Maximum depth: 978.452962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.452962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715915; longitude = -121.774411; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 924.352376; finalDepth = 928.452962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.452962 # Seafloor depth:-978.452962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.352376 meters looking forward 0.000000 meters along route # Maximum depth: 974.352376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.352376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715915; longitude = -121.773766; captureRadius = 10; duration = 107; initialDepth = 924.035889; finalDepth = 924.352376; 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:924.352376 # Seafloor depth:-974.352376 # 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 107.688650 meters # Minimum depth: 974.035889 meters looking forward 0.000000 meters along route # Maximum depth: 974.035889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.035889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715915; longitude = -121.772476; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 921.427249; finalDepth = 924.035889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.035889 # Seafloor depth:-974.035889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.427249 meters looking forward 0.000000 meters along route # Maximum depth: 971.427249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.427249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716560; longitude = -121.771965; captureRadius = 10; duration = 107; initialDepth = 920.607261; finalDepth = 921.427249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.427249 # Seafloor depth:-971.427249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 970.607261 meters looking forward 0.000000 meters along route # Maximum depth: 970.607261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.607261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717426; longitude = -121.771278; captureRadius = 10; duration = 107; initialDepth = 922.698071; finalDepth = 920.607261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:920.607261 # Seafloor depth:-970.607261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.698071 meters looking forward 0.000000 meters along route # Maximum depth: 972.698071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.698071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.770650; captureRadius = 10; duration = 107; initialDepth = 921.074658; finalDepth = 922.698071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.698071 # Seafloor depth:-972.698071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.074658 meters looking forward 0.000000 meters along route # Maximum depth: 971.074658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.074658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.769992; captureRadius = 10; duration = 107; initialDepth = 921.553274; finalDepth = 921.074658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.074658 # Seafloor depth:-971.074658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.553274 meters looking forward 0.000000 meters along route # Maximum depth: 971.553274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.553274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.769335; captureRadius = 10; duration = 107; initialDepth = 919.863275; finalDepth = 921.553274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.553274 # Seafloor depth:-971.553274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 969.863275 meters looking forward 0.000000 meters along route # Maximum depth: 969.863275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.863275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.768677; captureRadius = 10; duration = 107; initialDepth = 920.959513; finalDepth = 919.863275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:919.863275 # Seafloor depth:-969.863275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 970.959513 meters looking forward 0.000000 meters along route # Maximum depth: 970.959513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.959513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.768020; captureRadius = 10; duration = 107; initialDepth = 920.718788; finalDepth = 920.959513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:920.959513 # Seafloor depth:-970.959513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 970.718788 meters looking forward 0.000000 meters along route # Maximum depth: 970.718788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.718788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.767362; captureRadius = 10; duration = 107; initialDepth = 916.535273; finalDepth = 920.718788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:920.718788 # Seafloor depth:-970.718788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 966.535273 meters looking forward 0.000000 meters along route # Maximum depth: 966.535273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.535273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.766705; captureRadius = 10; duration = 107; initialDepth = 917.987152; finalDepth = 916.535273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:916.535273 # Seafloor depth:-966.535273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 967.987152 meters looking forward 0.000000 meters along route # Maximum depth: 967.987152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.987152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724049; longitude = -121.766027; captureRadius = 10; duration = 107; initialDepth = 915.916697; finalDepth = 917.987152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.987152 # Seafloor depth:-967.987152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 965.916697 meters looking forward 0.000000 meters along route # Maximum depth: 965.916697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.916697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724852; longitude = -121.765390; captureRadius = 10; duration = 107; initialDepth = 916.167448; finalDepth = 915.916697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.916697 # Seafloor depth:-965.916697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 966.167448 meters looking forward 0.000000 meters along route # Maximum depth: 966.167448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.167448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725681; longitude = -121.764733; captureRadius = 10; duration = 107; initialDepth = 914.760410; finalDepth = 916.167448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:916.167448 # Seafloor depth:-966.167448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 964.760410 meters looking forward 0.000000 meters along route # Maximum depth: 964.760410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.760410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726511; longitude = -121.764075; captureRadius = 10; duration = 107; initialDepth = 914.348662; finalDepth = 914.760410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:914.76041 # Seafloor depth:-964.760410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 964.348662 meters looking forward 0.000000 meters along route # Maximum depth: 964.348662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.348662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.763418; captureRadius = 10; duration = 107; initialDepth = 925.559933; finalDepth = 914.348662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:914.348662 # Seafloor depth:-964.348662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 975.559933 meters looking forward 0.000000 meters along route # Maximum depth: 975.559933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.559933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728233; longitude = -121.762710; captureRadius = 10; duration = 107; initialDepth = 927.069341; finalDepth = 925.559933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.559933 # Seafloor depth:-975.559933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 977.069341 meters looking forward 0.000000 meters along route # Maximum depth: 977.069341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.069341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728998; longitude = -121.762103; captureRadius = 10; duration = 107; initialDepth = 926.678409; finalDepth = 927.069341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.069341 # Seafloor depth:-977.069341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 976.678409 meters looking forward 0.000000 meters along route # Maximum depth: 976.678409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.678409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.761445; captureRadius = 10; duration = 107; initialDepth = 924.533904; finalDepth = 926.678409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.678409 # Seafloor depth:-976.678409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 974.533904 meters looking forward 0.000000 meters along route # Maximum depth: 974.533904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.533904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730673; longitude = -121.760775; captureRadius = 10; duration = 107; initialDepth = 928.637965; finalDepth = 924.533904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.533904 # Seafloor depth:-974.533904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 978.637965 meters looking forward 0.000000 meters along route # Maximum depth: 978.637965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.637965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.760131; captureRadius = 10; duration = 107; initialDepth = 921.764288; finalDepth = 928.637965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.637965 # Seafloor depth:-978.637965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.764288 meters looking forward 0.000000 meters along route # Maximum depth: 971.764288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.764288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.759473; captureRadius = 10; duration = 107; initialDepth = 907.511465; finalDepth = 921.764288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.764288 # Seafloor depth:-971.764288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 957.511465 meters looking forward 0.000000 meters along route # Maximum depth: 957.511465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.511465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733144; longitude = -121.758816; captureRadius = 10; duration = 107; initialDepth = 909.081941; finalDepth = 907.511465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:907.511465 # Seafloor depth:-957.511465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 959.081941 meters looking forward 0.000000 meters along route # Maximum depth: 959.081941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.081941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.758158; captureRadius = 10; duration = 107; initialDepth = 910.165489; finalDepth = 909.081941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:909.081941 # Seafloor depth:-959.081941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 960.165489 meters looking forward 0.000000 meters along route # Maximum depth: 960.165489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.165489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734856; longitude = -121.757458; captureRadius = 10; duration = 107; initialDepth = 912.245408; finalDepth = 910.165489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:910.165489 # Seafloor depth:-960.165489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 962.245408 meters looking forward 0.000000 meters along route # Maximum depth: 962.245408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 912.245408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.756843; captureRadius = 10; duration = 107; initialDepth = 909.825842; finalDepth = 912.245408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:912.245408 # Seafloor depth:-962.245408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 959.825842 meters looking forward 0.000000 meters along route # Maximum depth: 959.825842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.825842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.756186; captureRadius = 10; duration = 107; initialDepth = 908.078619; finalDepth = 909.825842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:909.825842 # Seafloor depth:-959.825842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 958.078619 meters looking forward 0.000000 meters along route # Maximum depth: 958.078619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.078619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737297; longitude = -121.755523; captureRadius = 10; duration = 107; initialDepth = 911.678088; finalDepth = 908.078619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:908.078619 # Seafloor depth:-958.078619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 961.678088 meters looking forward 0.000000 meters along route # Maximum depth: 961.678088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.678088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.754871; captureRadius = 10; duration = 107; initialDepth = 910.679386; finalDepth = 911.678088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:911.678088 # Seafloor depth:-961.678088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 960.679386 meters looking forward 0.000000 meters along route # Maximum depth: 960.679386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.679386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.754213; captureRadius = 10; duration = 107; initialDepth = 910.038910; finalDepth = 910.679386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:910.679386 # Seafloor depth:-960.679386 # 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 107.688650 meters # Minimum depth: 960.038910 meters looking forward 0.000000 meters along route # Maximum depth: 960.038910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.038910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739707; longitude = -121.753612; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 909.378792; finalDepth = 910.038910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:910.03891 # Seafloor depth:-960.038910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 959.378792 meters looking forward 0.000000 meters along route # Maximum depth: 959.378792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.378792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.753222; captureRadius = 10; duration = 107; initialDepth = 908.487488; finalDepth = 909.378792; 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:909.378792 # Seafloor depth:-959.378792 # 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 107.688650 meters # Minimum depth: 958.487488 meters looking forward 0.000000 meters along route # Maximum depth: 958.487488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.487488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738973; longitude = -121.752219; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 907.013537; finalDepth = 908.487488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:908.487488 # Seafloor depth:-958.487488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 957.013537 meters looking forward 0.000000 meters along route # Maximum depth: 957.013537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.013537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.752671; captureRadius = 10; duration = 107; initialDepth = 907.037945; finalDepth = 907.013537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:907.013537 # Seafloor depth:-957.013537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 957.037945 meters looking forward 0.000000 meters along route # Maximum depth: 957.037945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.037945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.753321; captureRadius = 10; duration = 107; initialDepth = 908.681919; finalDepth = 907.037945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:907.037945 # Seafloor depth:-957.037945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 958.681919 meters looking forward 0.000000 meters along route # Maximum depth: 958.681919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.681919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.753971; captureRadius = 10; duration = 107; initialDepth = 908.777326; finalDepth = 908.681919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:908.681919 # Seafloor depth:-958.681919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 958.777326 meters looking forward 0.000000 meters along route # Maximum depth: 958.777326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.777326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.754620; captureRadius = 10; duration = 107; initialDepth = 907.415124; finalDepth = 908.777326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:908.777326 # Seafloor depth:-958.777326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 957.415124 meters looking forward 0.000000 meters along route # Maximum depth: 957.415124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.415124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.755270; captureRadius = 10; duration = 107; initialDepth = 904.790459; finalDepth = 907.415124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:907.415124 # Seafloor depth:-957.415124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 954.790459 meters looking forward 0.000000 meters along route # Maximum depth: 954.790459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.790459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.755920; captureRadius = 10; duration = 107; initialDepth = 903.605390; finalDepth = 904.790459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:904.790459 # Seafloor depth:-954.790459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 953.605390 meters looking forward 0.000000 meters along route # Maximum depth: 953.605390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.605390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.756569; captureRadius = 10; duration = 107; initialDepth = 899.532617; finalDepth = 903.605390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:903.60539 # Seafloor depth:-953.605390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 949.532617 meters looking forward 0.000000 meters along route # Maximum depth: 949.532617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.532617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.757219; captureRadius = 10; duration = 107; initialDepth = 905.658039; finalDepth = 899.532617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:899.532617 # Seafloor depth:-949.532617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 955.658039 meters looking forward 0.000000 meters along route # Maximum depth: 955.658039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.658039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.757869; captureRadius = 10; duration = 107; initialDepth = 923.226788; finalDepth = 905.658039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:905.658039 # Seafloor depth:-955.658039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.226788 meters looking forward 0.000000 meters along route # Maximum depth: 973.226788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.226788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730875; longitude = -121.758564; captureRadius = 10; duration = 107; initialDepth = 925.684342; finalDepth = 923.226788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.226788 # Seafloor depth:-973.226788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 975.684342 meters looking forward 0.000000 meters along route # Maximum depth: 975.684342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.684342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.759168; captureRadius = 10; duration = 107; initialDepth = 908.536999; finalDepth = 925.684342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.684342 # Seafloor depth:-975.684342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 958.536999 meters looking forward 0.000000 meters along route # Maximum depth: 958.536999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.536999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.759818; captureRadius = 10; duration = 107; initialDepth = 909.228412; finalDepth = 908.536999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:908.536999 # Seafloor depth:-958.536999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 959.228412 meters looking forward 0.000000 meters along route # Maximum depth: 959.228412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.228412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728406; longitude = -121.760499; captureRadius = 10; duration = 107; initialDepth = 909.309279; finalDepth = 909.228412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:909.228412 # Seafloor depth:-959.228412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 959.309279 meters looking forward 0.000000 meters along route # Maximum depth: 959.309279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.309279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727616; longitude = -121.761117; captureRadius = 10; duration = 107; initialDepth = 910.252214; finalDepth = 909.309279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:909.309279 # Seafloor depth:-959.309279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 960.252214 meters looking forward 0.000000 meters along route # Maximum depth: 960.252214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.252214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726787; longitude = -121.761767; captureRadius = 10; duration = 107; initialDepth = 911.276235; finalDepth = 910.252214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:910.252214 # Seafloor depth:-960.252214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 961.276235 meters looking forward 0.000000 meters along route # Maximum depth: 961.276235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.276235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725936; longitude = -121.762433; captureRadius = 10; duration = 107; initialDepth = 911.380004; finalDepth = 911.276235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:911.276235 # Seafloor depth:-961.276235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 961.380004 meters looking forward 0.000000 meters along route # Maximum depth: 961.380004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.380004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725128; longitude = -121.763066; captureRadius = 10; duration = 107; initialDepth = 911.820639; finalDepth = 911.380004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:911.380004 # Seafloor depth:-961.380004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 961.820639 meters looking forward 0.000000 meters along route # Maximum depth: 961.820639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.820639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724299; longitude = -121.763716; captureRadius = 10; duration = 107; initialDepth = 915.773145; finalDepth = 911.820639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:911.820639 # Seafloor depth:-961.820639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 965.773145 meters looking forward 0.000000 meters along route # Maximum depth: 965.773145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.773145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723467; longitude = -121.764368; captureRadius = 10; duration = 107; initialDepth = 916.029785; finalDepth = 915.773145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.773145 # Seafloor depth:-965.773145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 966.029785 meters looking forward 0.000000 meters along route # Maximum depth: 966.029785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.029785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.765015; captureRadius = 10; duration = 107; initialDepth = 915.731160; finalDepth = 916.029785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:916.029785 # Seafloor depth:-966.029785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 965.731160 meters looking forward 0.000000 meters along route # Maximum depth: 965.731160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.731160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.765665; captureRadius = 10; duration = 107; initialDepth = 915.331351; finalDepth = 915.731160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.73116 # Seafloor depth:-965.731160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 965.331351 meters looking forward 0.000000 meters along route # Maximum depth: 965.331351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.331351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.766314; captureRadius = 10; duration = 107; initialDepth = 917.150793; finalDepth = 915.331351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.331351 # Seafloor depth:-965.331351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 967.150793 meters looking forward 0.000000 meters along route # Maximum depth: 967.150793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.150793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.766964; captureRadius = 10; duration = 107; initialDepth = 919.324138; finalDepth = 917.150793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.150793 # Seafloor depth:-967.150793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 969.324138 meters looking forward 0.000000 meters along route # Maximum depth: 969.324138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.324138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.767614; captureRadius = 10; duration = 107; initialDepth = 919.863568; finalDepth = 919.324138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:919.324138 # Seafloor depth:-969.324138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 969.863568 meters looking forward 0.000000 meters along route # Maximum depth: 969.863568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.863568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.768264; captureRadius = 10; duration = 107; initialDepth = 920.007150; finalDepth = 919.863568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:919.863568 # Seafloor depth:-969.863568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 970.007150 meters looking forward 0.000000 meters along route # Maximum depth: 970.007150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.007150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717666; longitude = -121.768913; captureRadius = 10; duration = 107; initialDepth = 917.383452; finalDepth = 920.007150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:920.00715 # Seafloor depth:-970.007150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 967.383452 meters looking forward 0.000000 meters along route # Maximum depth: 967.383452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.383452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716764; longitude = -121.769620; captureRadius = 10; duration = 107; initialDepth = 920.241699; finalDepth = 917.383452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.383452 # Seafloor depth:-967.383452 # 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 107.688650 meters # Minimum depth: 970.241699 meters looking forward 0.000000 meters along route # Maximum depth: 970.241699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.241699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715823; longitude = -121.770357; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 920.404500; finalDepth = 920.241699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:920.241699 # Seafloor depth:-970.241699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 970.404500 meters looking forward 0.000000 meters along route # Maximum depth: 970.404500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.404500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715823; longitude = -121.769620; captureRadius = 10; duration = 107; initialDepth = 919.076009; finalDepth = 920.404500; 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:920.4045 # Seafloor depth:-970.404500 # 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 107.688650 meters # Minimum depth: 969.076009 meters looking forward 0.000000 meters along route # Maximum depth: 969.076009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.076009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715823; longitude = -121.768422; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 919.025744; finalDepth = 919.076009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:919.076009 # Seafloor depth:-969.076009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 969.025744 meters looking forward 0.000000 meters along route # Maximum depth: 969.025744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.025744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716560; longitude = -121.767843; captureRadius = 10; duration = 107; initialDepth = 918.465249; finalDepth = 919.025744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:919.025744 # Seafloor depth:-969.025744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 968.465249 meters looking forward 0.000000 meters along route # Maximum depth: 968.465249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.465249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717389; longitude = -121.767193; captureRadius = 10; duration = 107; initialDepth = 914.583745; finalDepth = 918.465249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.465249 # Seafloor depth:-968.465249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 964.583745 meters looking forward 0.000000 meters along route # Maximum depth: 964.583745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.583745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.766542; captureRadius = 10; duration = 107; initialDepth = 915.276100; finalDepth = 914.583745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:914.583745 # Seafloor depth:-964.583745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 965.276100 meters looking forward 0.000000 meters along route # Maximum depth: 965.276100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.276100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.765891; captureRadius = 10; duration = 107; initialDepth = 914.196443; finalDepth = 915.276100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.2761 # Seafloor depth:-965.276100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 964.196443 meters looking forward 0.000000 meters along route # Maximum depth: 964.196443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.196443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719931; longitude = -121.765197; captureRadius = 10; duration = 107; initialDepth = 912.320989; finalDepth = 914.196443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:914.196443 # Seafloor depth:-964.196443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 962.320989 meters looking forward 0.000000 meters along route # Maximum depth: 962.320989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 912.320989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.764589; captureRadius = 10; duration = 107; initialDepth = 913.862473; finalDepth = 912.320989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:912.320989 # Seafloor depth:-962.320989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 963.862473 meters looking forward 0.000000 meters along route # Maximum depth: 963.862473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.862473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.763938; captureRadius = 10; duration = 107; initialDepth = 911.948294; finalDepth = 913.862473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:913.862473 # Seafloor depth:-963.862473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 961.948294 meters looking forward 0.000000 meters along route # Maximum depth: 961.948294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.948294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722396; longitude = -121.763263; captureRadius = 10; duration = 107; initialDepth = 910.807245; finalDepth = 911.948294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:911.948294 # Seafloor depth:-961.948294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 960.807245 meters looking forward 0.000000 meters along route # Maximum depth: 960.807245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.807245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.762636; captureRadius = 10; duration = 107; initialDepth = 909.713916; finalDepth = 910.807245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:910.807245 # Seafloor depth:-960.807245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 959.713916 meters looking forward 0.000000 meters along route # Maximum depth: 959.713916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.713916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724023; longitude = -121.761985; captureRadius = 10; duration = 107; initialDepth = 907.713144; finalDepth = 909.713916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:909.713916 # Seafloor depth:-959.713916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 957.713144 meters looking forward 0.000000 meters along route # Maximum depth: 957.713144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.713144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724861; longitude = -121.761328; captureRadius = 10; duration = 107; initialDepth = 906.678594; finalDepth = 907.713144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:907.713144 # Seafloor depth:-957.713144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 956.678594 meters looking forward 0.000000 meters along route # Maximum depth: 956.678594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.678594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725681; longitude = -121.760684; captureRadius = 10; duration = 107; initialDepth = 903.273623; finalDepth = 906.678594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:906.678594 # Seafloor depth:-956.678594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 953.273623 meters looking forward 0.000000 meters along route # Maximum depth: 953.273623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.273623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726511; longitude = -121.760033; captureRadius = 10; duration = 107; initialDepth = 908.902001; finalDepth = 903.273623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:903.273623 # Seafloor depth:-953.273623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 958.902001 meters looking forward 0.000000 meters along route # Maximum depth: 958.902001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.902001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.759382; captureRadius = 10; duration = 107; initialDepth = 922.952024; finalDepth = 908.902001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:908.902001 # Seafloor depth:-958.902001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 972.952024 meters looking forward 0.000000 meters along route # Maximum depth: 972.952024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.952024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728169; longitude = -121.758731; captureRadius = 10; duration = 107; initialDepth = 923.539040; finalDepth = 922.952024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.952024 # Seafloor depth:-972.952024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 973.539040 meters looking forward 0.000000 meters along route # Maximum depth: 973.539040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.539040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728998; longitude = -121.758080; captureRadius = 10; duration = 107; initialDepth = 909.039056; finalDepth = 923.539040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.53904 # Seafloor depth:-973.539040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 959.039056 meters looking forward 0.000000 meters along route # Maximum depth: 959.039056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.039056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.757429; captureRadius = 10; duration = 107; initialDepth = 901.270267; finalDepth = 909.039056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:909.039056 # Seafloor depth:-959.039056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 951.270267 meters looking forward 0.000000 meters along route # Maximum depth: 951.270267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.270267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.756778; captureRadius = 10; duration = 107; initialDepth = 899.067313; finalDepth = 901.270267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:901.270267 # Seafloor depth:-951.270267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 949.067313 meters looking forward 0.000000 meters along route # Maximum depth: 949.067313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.067313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731551; longitude = -121.756076; captureRadius = 10; duration = 107; initialDepth = 898.596872; finalDepth = 899.067313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:899.067313 # Seafloor depth:-949.067313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 948.596872 meters looking forward 0.000000 meters along route # Maximum depth: 948.596872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.596872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.755476; captureRadius = 10; duration = 107; initialDepth = 900.574233; finalDepth = 898.596872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:898.596872 # Seafloor depth:-948.596872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 950.574233 meters looking forward 0.000000 meters along route # Maximum depth: 950.574233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.574233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733144; longitude = -121.754825; captureRadius = 10; duration = 107; initialDepth = 906.775367; finalDepth = 900.574233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:900.574233 # Seafloor depth:-950.574233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 956.775367 meters looking forward 0.000000 meters along route # Maximum depth: 956.775367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.775367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734016; longitude = -121.754141; captureRadius = 10; duration = 107; initialDepth = 907.329752; finalDepth = 906.775367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:906.775367 # Seafloor depth:-956.775367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 957.329752 meters looking forward 0.000000 meters along route # Maximum depth: 957.329752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.329752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.753524; captureRadius = 10; duration = 107; initialDepth = 905.996525; finalDepth = 907.329752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:907.329752 # Seafloor depth:-957.329752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 955.996525 meters looking forward 0.000000 meters along route # Maximum depth: 955.996525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.996525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.752873; captureRadius = 10; duration = 107; initialDepth = 906.592673; finalDepth = 905.996525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:905.996525 # Seafloor depth:-955.996525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 956.592673 meters looking forward 0.000000 meters along route # Maximum depth: 956.592673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.592673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736481; longitude = -121.752206; captureRadius = 10; duration = 107; initialDepth = 905.824898; finalDepth = 906.592673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:906.592673 # Seafloor depth:-956.592673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 955.824898 meters looking forward 0.000000 meters along route # Maximum depth: 955.824898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.824898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.751571; captureRadius = 10; duration = 107; initialDepth = 905.570435; finalDepth = 905.824898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:905.824898 # Seafloor depth:-955.824898 # 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 107.688650 meters # Minimum depth: 955.570435 meters looking forward 0.000000 meters along route # Maximum depth: 955.570435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.570435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738240; longitude = -121.750826; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 905.912192; finalDepth = 905.570435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:905.570435 # Seafloor depth:-955.570435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 955.912192 meters looking forward 0.000000 meters along route # Maximum depth: 955.912192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.912192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.750520; captureRadius = 10; duration = 107; initialDepth = 904.630208; finalDepth = 905.912192; 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:905.912192 # Seafloor depth:-955.912192 # 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 107.688650 meters # Minimum depth: 954.630208 meters looking forward 0.000000 meters along route # Maximum depth: 954.630208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.630208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736922; longitude = -121.749811; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 904.160753; finalDepth = 904.630208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:904.630208 # Seafloor depth:-954.630208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 954.160753 meters looking forward 0.000000 meters along route # Maximum depth: 954.160753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.160753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736689; longitude = -121.749995; captureRadius = 10; duration = 107; initialDepth = 902.534833; finalDepth = 904.160753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:904.160753 # Seafloor depth:-954.160753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 952.534833 meters looking forward 0.000000 meters along route # Maximum depth: 952.534833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.534833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.750612; captureRadius = 10; duration = 107; initialDepth = 904.538418; finalDepth = 902.534833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:902.534833 # Seafloor depth:-952.534833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 954.538418 meters looking forward 0.000000 meters along route # Maximum depth: 954.538418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.538418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.751267; captureRadius = 10; duration = 107; initialDepth = 903.234707; finalDepth = 904.538418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:904.538418 # Seafloor depth:-954.538418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 953.234707 meters looking forward 0.000000 meters along route # Maximum depth: 953.234707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.234707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734241; longitude = -121.751930; captureRadius = 10; duration = 107; initialDepth = 902.589494; finalDepth = 903.234707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:903.234707 # Seafloor depth:-953.234707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 952.589494 meters looking forward 0.000000 meters along route # Maximum depth: 952.589494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.589494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.752578; captureRadius = 10; duration = 107; initialDepth = 898.869646; finalDepth = 902.589494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:902.589494 # Seafloor depth:-952.589494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 948.869646 meters looking forward 0.000000 meters along route # Maximum depth: 948.869646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.869646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.753234; captureRadius = 10; duration = 107; initialDepth = 903.681078; finalDepth = 898.869646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:898.869646 # Seafloor depth:-948.869646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 953.681078 meters looking forward 0.000000 meters along route # Maximum depth: 953.681078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.681078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.753889; captureRadius = 10; duration = 107; initialDepth = 913.031013; finalDepth = 903.681078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:903.681078 # Seafloor depth:-953.681078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 963.031013 meters looking forward 0.000000 meters along route # Maximum depth: 963.031013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.031013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.754544; captureRadius = 10; duration = 107; initialDepth = 917.708674; finalDepth = 913.031013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:913.031013 # Seafloor depth:-963.031013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 967.708674 meters looking forward 0.000000 meters along route # Maximum depth: 967.708674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.708674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730044; longitude = -121.755247; captureRadius = 10; duration = 107; initialDepth = 916.466183; finalDepth = 917.708674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.708674 # Seafloor depth:-967.708674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 966.466183 meters looking forward 0.000000 meters along route # Maximum depth: 966.466183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.466183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.755855; captureRadius = 10; duration = 107; initialDepth = 899.608780; finalDepth = 916.466183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:916.466183 # Seafloor depth:-966.466183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 949.608780 meters looking forward 0.000000 meters along route # Maximum depth: 949.608780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.608780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.756511; captureRadius = 10; duration = 107; initialDepth = 907.010725; finalDepth = 899.608780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:899.60878 # Seafloor depth:-949.608780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 957.010725 meters looking forward 0.000000 meters along route # Maximum depth: 957.010725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.010725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727596; longitude = -121.757182; captureRadius = 10; duration = 107; initialDepth = 918.269834; finalDepth = 907.010725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:907.010725 # Seafloor depth:-957.010725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 968.269834 meters looking forward 0.000000 meters along route # Maximum depth: 968.269834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.269834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726787; longitude = -121.757821; captureRadius = 10; duration = 107; initialDepth = 921.195366; finalDepth = 918.269834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.269834 # Seafloor depth:-968.269834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 971.195366 meters looking forward 0.000000 meters along route # Maximum depth: 971.195366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.195366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725958; longitude = -121.758477; captureRadius = 10; duration = 107; initialDepth = 907.322831; finalDepth = 921.195366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.195366 # Seafloor depth:-971.195366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 957.322831 meters looking forward 0.000000 meters along route # Maximum depth: 957.322831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.322831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725128; longitude = -121.759132; captureRadius = 10; duration = 107; initialDepth = 902.596324; finalDepth = 907.322831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:907.322831 # Seafloor depth:-957.322831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 952.596324 meters looking forward 0.000000 meters along route # Maximum depth: 952.596324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.596324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724299; longitude = -121.759788; captureRadius = 10; duration = 107; initialDepth = 905.523541; finalDepth = 902.596324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:902.596324 # Seafloor depth:-952.596324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 955.523541 meters looking forward 0.000000 meters along route # Maximum depth: 955.523541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.523541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723400; longitude = -121.760499; captureRadius = 10; duration = 107; initialDepth = 908.298168; finalDepth = 905.523541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:905.523541 # Seafloor depth:-955.523541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 958.298168 meters looking forward 0.000000 meters along route # Maximum depth: 958.298168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.298168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.761098; captureRadius = 10; duration = 107; initialDepth = 908.229625; finalDepth = 908.298168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:908.298168 # Seafloor depth:-958.298168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 958.229625 meters looking forward 0.000000 meters along route # Maximum depth: 958.229625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.229625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.761754; captureRadius = 10; duration = 107; initialDepth = 908.738041; finalDepth = 908.229625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:908.229625 # Seafloor depth:-958.229625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 958.738041 meters looking forward 0.000000 meters along route # Maximum depth: 958.738041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.738041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720952; longitude = -121.762433; captureRadius = 10; duration = 107; initialDepth = 910.871950; finalDepth = 908.738041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:908.738041 # Seafloor depth:-958.738041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 960.871950 meters looking forward 0.000000 meters along route # Maximum depth: 960.871950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.871950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.763065; captureRadius = 10; duration = 107; initialDepth = 913.434372; finalDepth = 910.871950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:910.87195 # Seafloor depth:-960.871950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 963.434372 meters looking forward 0.000000 meters along route # Maximum depth: 963.434372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.434372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.763720; captureRadius = 10; duration = 107; initialDepth = 913.414163; finalDepth = 913.434372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:913.434372 # Seafloor depth:-963.434372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 963.414163 meters looking forward 0.000000 meters along route # Maximum depth: 963.414163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.414163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.764375; captureRadius = 10; duration = 107; initialDepth = 914.532685; finalDepth = 913.414163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:913.414163 # Seafloor depth:-963.414163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 964.532685 meters looking forward 0.000000 meters along route # Maximum depth: 964.532685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.532685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717666; longitude = -121.765031; captureRadius = 10; duration = 107; initialDepth = 915.511945; finalDepth = 914.532685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:914.532685 # Seafloor depth:-964.532685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 965.511945 meters looking forward 0.000000 meters along route # Maximum depth: 965.511945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.511945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716755; longitude = -121.765750; captureRadius = 10; duration = 107; initialDepth = 917.092204; finalDepth = 915.511945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.511945 # Seafloor depth:-965.511945 # 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 107.688650 meters # Minimum depth: 967.092204 meters looking forward 0.000000 meters along route # Maximum depth: 967.092204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.092204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715823; longitude = -121.766487; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 914.994710; finalDepth = 917.092204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.092204 # Seafloor depth:-967.092204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 964.994710 meters looking forward 0.000000 meters along route # Maximum depth: 964.994710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.994710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715823; longitude = -121.765750; captureRadius = 10; duration = 107; initialDepth = 914.384033; finalDepth = 914.994710; 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:914.99471 # Seafloor depth:-964.994710 # 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 107.688650 meters # Minimum depth: 964.384033 meters looking forward 0.000000 meters along route # Maximum depth: 964.384033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.384033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715823; longitude = -121.764552; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 911.500202; finalDepth = 914.384033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:914.384033 # Seafloor depth:-964.384033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 961.500202 meters looking forward 0.000000 meters along route # Maximum depth: 961.500202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.500202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716560; longitude = -121.763968; captureRadius = 10; duration = 107; initialDepth = 913.420876; finalDepth = 911.500202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:911.500202 # Seafloor depth:-961.500202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 963.420876 meters looking forward 0.000000 meters along route # Maximum depth: 963.420876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.420876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717450; longitude = -121.763263; captureRadius = 10; duration = 107; initialDepth = 912.317095; finalDepth = 913.420876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:913.420876 # Seafloor depth:-963.420876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 962.317095 meters looking forward 0.000000 meters along route # Maximum depth: 962.317095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 912.317095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.762654; captureRadius = 10; duration = 107; initialDepth = 909.359531; finalDepth = 912.317095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:912.317095 # Seafloor depth:-962.317095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 959.359531 meters looking forward 0.000000 meters along route # Maximum depth: 959.359531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.359531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.761996; captureRadius = 10; duration = 107; initialDepth = 907.772898; finalDepth = 909.359531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:909.359531 # Seafloor depth:-959.359531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 957.772898 meters looking forward 0.000000 meters along route # Maximum depth: 957.772898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.772898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719891; longitude = -121.761328; captureRadius = 10; duration = 107; initialDepth = 907.138959; finalDepth = 907.772898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:907.772898 # Seafloor depth:-957.772898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 957.138959 meters looking forward 0.000000 meters along route # Maximum depth: 957.138959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.138959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.760682; captureRadius = 10; duration = 107; initialDepth = 907.717285; finalDepth = 907.138959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:907.138959 # Seafloor depth:-957.138959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 957.717285 meters looking forward 0.000000 meters along route # Maximum depth: 957.717285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.717285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.760025; captureRadius = 10; duration = 107; initialDepth = 904.756786; finalDepth = 907.717285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:907.717285 # Seafloor depth:-957.717285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 954.756786 meters looking forward 0.000000 meters along route # Maximum depth: 954.756786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.756786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.759367; captureRadius = 10; duration = 107; initialDepth = 902.787803; finalDepth = 904.756786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:904.756786 # Seafloor depth:-954.756786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 952.787803 meters looking forward 0.000000 meters along route # Maximum depth: 952.787803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.787803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.758710; captureRadius = 10; duration = 107; initialDepth = 903.067857; finalDepth = 902.787803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:902.787803 # Seafloor depth:-952.787803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 953.067857 meters looking forward 0.000000 meters along route # Maximum depth: 953.067857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.067857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724076; longitude = -121.758011; captureRadius = 10; duration = 107; initialDepth = 920.183115; finalDepth = 903.067857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:903.067857 # Seafloor depth:-953.067857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 970.183115 meters looking forward 0.000000 meters along route # Maximum depth: 970.183115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.183115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724852; longitude = -121.757396; captureRadius = 10; duration = 107; initialDepth = 917.927266; finalDepth = 920.183115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:920.183115 # Seafloor depth:-970.183115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 967.927266 meters looking forward 0.000000 meters along route # Maximum depth: 967.927266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.927266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725681; longitude = -121.756738; captureRadius = 10; duration = 107; initialDepth = 915.063435; finalDepth = 917.927266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.927266 # Seafloor depth:-967.927266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 965.063435 meters looking forward 0.000000 meters along route # Maximum depth: 965.063435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.063435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726517; longitude = -121.756076; captureRadius = 10; duration = 107; initialDepth = 916.854419; finalDepth = 915.063435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.063435 # Seafloor depth:-965.063435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 966.854419 meters looking forward 0.000000 meters along route # Maximum depth: 966.854419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.854419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.755424; captureRadius = 10; duration = 107; initialDepth = 913.640835; finalDepth = 916.854419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:916.854419 # Seafloor depth:-966.854419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 963.640835 meters looking forward 0.000000 meters along route # Maximum depth: 963.640835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.640835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728169; longitude = -121.754767; captureRadius = 10; duration = 107; initialDepth = 906.473034; finalDepth = 913.640835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:913.640835 # Seafloor depth:-963.640835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 956.473034 meters looking forward 0.000000 meters along route # Maximum depth: 956.473034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.473034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728998; longitude = -121.754109; captureRadius = 10; duration = 107; initialDepth = 910.116959; finalDepth = 906.473034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:906.473034 # Seafloor depth:-956.473034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 960.116959 meters looking forward 0.000000 meters along route # Maximum depth: 960.116959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.116959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.753452; captureRadius = 10; duration = 107; initialDepth = 907.721949; finalDepth = 910.116959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:910.116959 # Seafloor depth:-960.116959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 957.721949 meters looking forward 0.000000 meters along route # Maximum depth: 957.721949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.721949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730702; longitude = -121.752759; captureRadius = 10; duration = 107; initialDepth = 895.974835; finalDepth = 907.721949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:907.721949 # Seafloor depth:-957.721949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 945.974835 meters looking forward 0.000000 meters along route # Maximum depth: 945.974835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.974835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.752138; captureRadius = 10; duration = 107; initialDepth = 899.878118; finalDepth = 895.974835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:895.974835 # Seafloor depth:-945.974835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 949.878118 meters looking forward 0.000000 meters along route # Maximum depth: 949.878118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.878118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.751480; captureRadius = 10; duration = 107; initialDepth = 903.984407; finalDepth = 899.878118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:899.878118 # Seafloor depth:-949.878118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 953.984407 meters looking forward 0.000000 meters along route # Maximum depth: 953.984407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.984407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733144; longitude = -121.750823; captureRadius = 10; duration = 107; initialDepth = 901.133644; finalDepth = 903.984407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:903.984407 # Seafloor depth:-953.984407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 951.133644 meters looking forward 0.000000 meters along route # Maximum depth: 951.133644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.133644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.750166; captureRadius = 10; duration = 107; initialDepth = 900.939147; finalDepth = 901.133644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:901.133644 # Seafloor depth:-951.133644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 950.939147 meters looking forward 0.000000 meters along route # Maximum depth: 950.939147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.939147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734886; longitude = -121.749442; captureRadius = 10; duration = 107; initialDepth = 900.061361; finalDepth = 900.939147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:900.939147 # Seafloor depth:-950.939147 # 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 107.688650 meters # Minimum depth: 950.061361 meters looking forward 0.000000 meters along route # Maximum depth: 950.061361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.061361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735816; longitude = -121.748705; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 899.885393; finalDepth = 900.061361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:900.061361 # Seafloor depth:-950.061361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 949.885393 meters looking forward 0.000000 meters along route # Maximum depth: 949.885393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.885393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735381; longitude = -121.748337; captureRadius = 10; duration = 107; initialDepth = 900.200358; finalDepth = 899.885393; 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:899.885393 # Seafloor depth:-949.885393 # 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 107.688650 meters # Minimum depth: 950.200358 meters looking forward 0.000000 meters along route # Maximum depth: 950.200358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.200358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734618; longitude = -121.747692; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 898.706957; finalDepth = 900.200358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:900.200358 # Seafloor depth:-950.200358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 948.706957 meters looking forward 0.000000 meters along route # Maximum depth: 948.706957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.706957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.747984; captureRadius = 10; duration = 107; initialDepth = 899.705791; finalDepth = 898.706957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:898.706957 # Seafloor depth:-948.706957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 949.705791 meters looking forward 0.000000 meters along route # Maximum depth: 949.705791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.705791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.748643; captureRadius = 10; duration = 107; initialDepth = 901.050859; finalDepth = 899.705791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:899.705791 # Seafloor depth:-949.705791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 951.050859 meters looking forward 0.000000 meters along route # Maximum depth: 951.050859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.050859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.749301; captureRadius = 10; duration = 107; initialDepth = 899.532037; finalDepth = 901.050859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:901.050859 # Seafloor depth:-951.050859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 949.532037 meters looking forward 0.000000 meters along route # Maximum depth: 949.532037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.532037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731718; longitude = -121.749995; captureRadius = 10; duration = 107; initialDepth = 898.951965; finalDepth = 899.532037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:899.532037 # Seafloor depth:-949.532037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 948.951965 meters looking forward 0.000000 meters along route # Maximum depth: 948.951965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.951965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.750618; captureRadius = 10; duration = 107; initialDepth = 900.831670; finalDepth = 898.951965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:898.951965 # Seafloor depth:-948.951965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 950.831670 meters looking forward 0.000000 meters along route # Maximum depth: 950.831670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.831670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.751277; captureRadius = 10; duration = 107; initialDepth = 913.474837; finalDepth = 900.831670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:900.83167 # Seafloor depth:-950.831670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 963.474837 meters looking forward 0.000000 meters along route # Maximum depth: 963.474837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.474837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.751935; captureRadius = 10; duration = 107; initialDepth = 902.989531; finalDepth = 913.474837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:913.474837 # Seafloor depth:-963.474837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 952.989531 meters looking forward 0.000000 meters along route # Maximum depth: 952.989531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.989531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.752594; captureRadius = 10; duration = 107; initialDepth = 899.142095; finalDepth = 902.989531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:902.989531 # Seafloor depth:-952.989531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 949.142095 meters looking forward 0.000000 meters along route # Maximum depth: 949.142095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.142095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727616; longitude = -121.753252; captureRadius = 10; duration = 107; initialDepth = 898.981639; finalDepth = 899.142095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:899.142095 # Seafloor depth:-949.142095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 948.981639 meters looking forward 0.000000 meters along route # Maximum depth: 948.981639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.981639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726787; longitude = -121.753911; captureRadius = 10; duration = 107; initialDepth = 903.880164; finalDepth = 898.981639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:898.981639 # Seafloor depth:-948.981639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 953.880164 meters looking forward 0.000000 meters along route # Maximum depth: 953.880164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.880164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725958; longitude = -121.754569; captureRadius = 10; duration = 107; initialDepth = 906.649845; finalDepth = 903.880164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:903.880164 # Seafloor depth:-953.880164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 956.649845 meters looking forward 0.000000 meters along route # Maximum depth: 956.649845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.649845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725105; longitude = -121.755247; captureRadius = 10; duration = 107; initialDepth = 899.250226; finalDepth = 906.649845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:906.649845 # Seafloor depth:-956.649845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 949.250226 meters looking forward 0.000000 meters along route # Maximum depth: 949.250226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.250226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724299; longitude = -121.755886; captureRadius = 10; duration = 107; initialDepth = 899.967223; finalDepth = 899.250226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:899.250226 # Seafloor depth:-949.250226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 949.967223 meters looking forward 0.000000 meters along route # Maximum depth: 949.967223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.967223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723470; longitude = -121.756545; captureRadius = 10; duration = 107; initialDepth = 903.095647; finalDepth = 899.967223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:899.967223 # Seafloor depth:-949.967223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 953.095647 meters looking forward 0.000000 meters along route # Maximum depth: 953.095647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.095647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.757203; captureRadius = 10; duration = 107; initialDepth = 903.101987; finalDepth = 903.095647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:903.095647 # Seafloor depth:-953.095647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 953.101987 meters looking forward 0.000000 meters along route # Maximum depth: 953.101987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.101987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.757862; captureRadius = 10; duration = 107; initialDepth = 905.467050; finalDepth = 903.101987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:903.101987 # Seafloor depth:-953.101987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 955.467050 meters looking forward 0.000000 meters along route # Maximum depth: 955.467050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.467050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720928; longitude = -121.758564; captureRadius = 10; duration = 107; initialDepth = 907.449123; finalDepth = 905.467050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:905.46705 # Seafloor depth:-955.467050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 957.449123 meters looking forward 0.000000 meters along route # Maximum depth: 957.449123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.449123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.759179; captureRadius = 10; duration = 107; initialDepth = 907.648550; finalDepth = 907.449123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:907.449123 # Seafloor depth:-957.449123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 957.648550 meters looking forward 0.000000 meters along route # Maximum depth: 957.648550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.648550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.759837; captureRadius = 10; duration = 107; initialDepth = 906.122040; finalDepth = 907.648550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:907.64855 # Seafloor depth:-957.648550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 956.122040 meters looking forward 0.000000 meters along route # Maximum depth: 956.122040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.122040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718491; longitude = -121.760499; captureRadius = 10; duration = 107; initialDepth = 911.641734; finalDepth = 906.122040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:906.12204 # Seafloor depth:-956.122040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 961.641734 meters looking forward 0.000000 meters along route # Maximum depth: 961.641734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.641734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717666; longitude = -121.761154; captureRadius = 10; duration = 107; initialDepth = 910.715511; finalDepth = 911.641734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:911.641734 # Seafloor depth:-961.641734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 960.715511 meters looking forward 0.000000 meters along route # Maximum depth: 960.715511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.715511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716751; longitude = -121.761881; captureRadius = 10; duration = 107; initialDepth = 910.645426; finalDepth = 910.715511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:910.715511 # Seafloor depth:-960.715511 # 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 107.688650 meters # Minimum depth: 960.645426 meters looking forward 0.000000 meters along route # Maximum depth: 960.645426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.645426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715823; longitude = -121.762618; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 908.761703; finalDepth = 910.645426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:910.645426 # Seafloor depth:-960.645426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 958.761703 meters looking forward 0.000000 meters along route # Maximum depth: 958.761703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.761703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715950; longitude = -121.761604; captureRadius = 10; duration = 107; initialDepth = 910.438070; finalDepth = 908.761703; 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:908.761703 # Seafloor depth:-958.761703 # 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 107.688650 meters # Minimum depth: 960.438070 meters looking forward 0.000000 meters along route # Maximum depth: 960.438070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.438070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716099; longitude = -121.760406; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 909.313439; finalDepth = 910.438070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:910.43807 # Seafloor depth:-960.438070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 959.313439 meters looking forward 0.000000 meters along route # Maximum depth: 959.313439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.313439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716560; longitude = -121.760042; captureRadius = 10; duration = 107; initialDepth = 908.161509; finalDepth = 909.313439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:909.313439 # Seafloor depth:-959.313439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 958.161509 meters looking forward 0.000000 meters along route # Maximum depth: 958.161509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.161509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717389; longitude = -121.759387; captureRadius = 10; duration = 107; initialDepth = 904.773620; finalDepth = 908.161509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:908.161509 # Seafloor depth:-958.161509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 954.773620 meters looking forward 0.000000 meters along route # Maximum depth: 954.773620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.773620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.758732; captureRadius = 10; duration = 107; initialDepth = 906.623401; finalDepth = 904.773620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:904.77362 # Seafloor depth:-954.773620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 956.623401 meters looking forward 0.000000 meters along route # Maximum depth: 956.623401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.623401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.758076; captureRadius = 10; duration = 107; initialDepth = 902.526630; finalDepth = 906.623401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:906.623401 # Seafloor depth:-956.623401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 952.526630 meters looking forward 0.000000 meters along route # Maximum depth: 952.526630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.526630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.757421; captureRadius = 10; duration = 107; initialDepth = 901.572617; finalDepth = 902.526630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:902.52663 # Seafloor depth:-952.526630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 951.572617 meters looking forward 0.000000 meters along route # Maximum depth: 951.572617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.572617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.756766; captureRadius = 10; duration = 107; initialDepth = 899.891276; finalDepth = 901.572617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:901.572617 # Seafloor depth:-951.572617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 949.891276 meters looking forward 0.000000 meters along route # Maximum depth: 949.891276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.891276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721578; longitude = -121.756076; captureRadius = 10; duration = 107; initialDepth = 900.121587; finalDepth = 899.891276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:899.891276 # Seafloor depth:-949.891276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 950.121587 meters looking forward 0.000000 meters along route # Maximum depth: 950.121587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.121587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.755455; captureRadius = 10; duration = 107; initialDepth = 896.757392; finalDepth = 900.121587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:900.121587 # Seafloor depth:-950.121587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 946.757392 meters looking forward 0.000000 meters along route # Maximum depth: 946.757392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 896.757392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.754800; captureRadius = 10; duration = 107; initialDepth = 895.395118; finalDepth = 896.757392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:896.757392 # Seafloor depth:-946.757392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 945.395118 meters looking forward 0.000000 meters along route # Maximum depth: 945.395118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.395118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724027; longitude = -121.754141; captureRadius = 10; duration = 107; initialDepth = 894.757038; finalDepth = 895.395118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:895.395118 # Seafloor depth:-945.395118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 944.757038 meters looking forward 0.000000 meters along route # Maximum depth: 944.757038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 894.757038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724852; longitude = -121.753489; captureRadius = 10; duration = 107; initialDepth = 896.746719; finalDepth = 894.757038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:894.757038 # Seafloor depth:-944.757038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 946.746719 meters looking forward 0.000000 meters along route # Maximum depth: 946.746719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 896.746719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725681; longitude = -121.752833; captureRadius = 10; duration = 107; initialDepth = 896.202266; finalDepth = 896.746719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:896.746719 # Seafloor depth:-946.746719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 946.202266 meters looking forward 0.000000 meters along route # Maximum depth: 946.202266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 896.202266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726511; longitude = -121.752178; captureRadius = 10; duration = 107; initialDepth = 901.250390; finalDepth = 896.202266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:896.202266 # Seafloor depth:-946.202266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 951.250390 meters looking forward 0.000000 meters along route # Maximum depth: 951.250390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.250390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.751523; captureRadius = 10; duration = 107; initialDepth = 908.499965; finalDepth = 901.250390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:901.25039 # Seafloor depth:-951.250390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 958.499965 meters looking forward 0.000000 meters along route # Maximum depth: 958.499965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.499965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728223; longitude = -121.750824; captureRadius = 10; duration = 107; initialDepth = 893.803565; finalDepth = 908.499965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:908.499965 # Seafloor depth:-958.499965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 943.803565 meters looking forward 0.000000 meters along route # Maximum depth: 943.803565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 893.803565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728998; longitude = -121.750212; captureRadius = 10; duration = 107; initialDepth = 895.069846; finalDepth = 893.803565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:893.803565 # Seafloor depth:-943.803565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 945.069846 meters looking forward 0.000000 meters along route # Maximum depth: 945.069846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.069846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.749557; captureRadius = 10; duration = 107; initialDepth = 897.230178; finalDepth = 895.069846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:895.069846 # Seafloor depth:-945.069846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 947.230178 meters looking forward 0.000000 meters along route # Maximum depth: 947.230178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.230178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730672; longitude = -121.748890; captureRadius = 10; duration = 107; initialDepth = 897.467212; finalDepth = 897.230178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:897.230178 # Seafloor depth:-947.230178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 947.467212 meters looking forward 0.000000 meters along route # Maximum depth: 947.467212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.467212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.748246; captureRadius = 10; duration = 107; initialDepth = 898.587862; finalDepth = 897.467212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:897.467212 # Seafloor depth:-947.467212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.688650 meters # Minimum depth: 948.587862 meters looking forward 0.000000 meters along route # Maximum depth: 948.587862 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 983.044079 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.587862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732420; longitude = -121.747508; captureRadius = 10; duration = 107; initialDepth = 898.317383; finalDepth = 898.587862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:898.587862 # Seafloor depth:-948.587862 # 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:898.317383 # Seafloor depth:-948.317383 # 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 107.688650 meters # Minimum depth: 948.317383 meters looking forward 0.000000 meters along route # Maximum depth: 948.317383 meters looking forward 0.000000 meters along route # Vehicle depth: 898.317383 meters behavior waypoint { latitude = 35.733236; longitude = -121.746863; captureRadius = 10; duration = 224; depth = 898.317383; 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 898.317383 meters set by local depth and desired altitude behavior descend { duration = 2728; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 888.317383; 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 107.688650 meters # Minimum depth: 948.317383 meters looking forward 0.000000 meters along route # Maximum depth: 948.317383 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 35.733236; longitude = -121.746863; 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 = 212.072312; 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 = 212.072312; 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; } # ####################################################### #######################################################