# 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: UpperCanyonLong_1v4.rte # Mission File: UpperCanyonLong_1v4.cfg # Distance: 86985.540554 (m) # Estimated Time: 61586 (s) 17.107 (hr) # Abort Time: 62000 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1235 (s) # Way Points: 347 # Route Points: 1026 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 1004.649142 (m) # Abort Vehicle Depth: 1029.649142 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (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 -121.807186 36.803017 -129.400879 0.000000 3 # 1 -121.805336 36.803465 -120.738829 172.373358 1 # 2 -121.801133 36.804362 -88.016739 560.331707 3 # 3 -121.800610 36.802812 -107.673225 738.514738 3 # 4 -121.803636 36.802420 -124.776789 1011.969200 1 # 5 -121.807858 36.802233 -142.321850 1389.219958 1 # 6 -121.810268 36.801392 -152.615803 1623.609138 1 # 7 -121.812005 36.800048 -148.400249 1838.669877 1 # 8 -121.813462 36.799488 -162.449783 1982.748983 1 # 9 -121.814022 36.798255 -165.993443 2128.383108 1 # 10 -121.816021 36.798050 -172.742649 2308.184138 1 # 11 -121.818337 36.798928 -179.175449 2536.632078 1 # 12 -121.820168 36.799618 -185.396793 2717.043347 1 # 13 -121.821233 36.799899 -188.444279 2817.047250 1 # 14 -121.821961 36.799562 -190.551010 2891.992348 1 # 15 -121.822092 36.798255 -196.136227 3037.467217 1 # 16 -121.821905 36.796481 -201.568363 3234.988819 1 # 17 -121.821793 36.795361 -205.040436 3359.647897 1 # 18 -121.822466 36.793848 -212.632553 3537.924726 1 # 19 -121.823157 36.792653 -216.869995 3684.139185 1 # 20 -121.823941 36.792205 -220.638103 3769.954252 1 # 21 -121.825324 36.790991 -220.608932 3952.627188 1 # 22 -121.826856 36.789964 -222.752384 4130.587777 1 # 23 -121.828910 36.789199 -232.039513 4332.568738 1 # 24 -121.831171 36.788900 -237.695393 4537.033975 1 # 25 -121.833001 36.789311 -244.481091 4706.577406 1 # 26 -121.835243 36.789927 -244.642647 4917.987623 1 # 27 -121.837447 36.790580 -255.854954 5127.573609 1 # 28 -121.839390 36.791439 -270.308464 5325.415236 1 # 29 -121.841687 36.791944 -280.152405 5537.896055 1 # 30 -121.844340 36.792485 -286.412033 5782.111891 1 # 31 -121.846077 36.793157 -292.429352 5954.100977 1 # 32 -121.848319 36.794054 -301.678917 6177.535271 1 # 33 -121.850168 36.794782 -307.652145 6361.224506 1 # 34 -121.851681 36.795790 -313.683075 6536.526509 1 # 35 -121.853064 36.796705 -318.454590 6696.313616 1 # 36 -121.854483 36.798199 -324.578857 6904.886151 1 # 37 -121.855212 36.799208 -326.995499 7034.352725 1 # 38 -121.857296 36.800543 -327.462158 7272.067450 1 # 39 -121.858678 36.800919 -312.433418 7402.233587 1 # 40 -121.859537 36.800498 -326.512390 7491.984036 1 # 41 -121.860321 36.799237 -338.947342 7648.396289 1 # 42 -121.862002 36.797344 -366.727074 7906.468782 1 # 43 -121.864000 36.795737 -376.250229 8158.591631 1 # 44 -121.868145 36.794250 -381.298119 8563.558070 1 # 45 -121.871671 36.792813 -372.491302 8916.260849 1 # 46 -121.876492 36.791726 -402.276642 9363.016335 1 # 47 -121.879984 36.792567 -412.358231 9688.272633 1 # 48 -121.881982 36.794115 -419.975418 9935.814342 1 # 49 -121.884335 36.795827 -425.170174 10218.927188 1 # 50 -121.886015 36.796548 -424.188370 10388.830740 1 # 51 -121.888424 36.796187 -425.092239 10607.469944 1 # 52 -121.891556 36.794742 -443.150475 10929.639441 1 # 53 -121.895109 36.793334 -451.135635 11283.055410 1 # 54 -121.896827 36.793664 -458.036751 11440.658338 1 # 55 -121.897742 36.794460 -461.254723 11560.925169 1 # 56 -121.898003 36.796368 -468.381996 11773.880854 1 # 57 -121.897667 36.797719 -449.675789 11926.733092 1 # 58 -121.898563 36.797990 -456.403946 12012.142431 1 # 59 -121.900767 36.797389 -485.094948 12219.783920 1 # 60 -121.903624 36.796578 -492.087715 12490.105933 1 # 61 -121.904109 36.795241 -486.896004 12644.619454 1 # 62 -121.903344 36.792883 -497.306618 12914.980193 1 # 63 -121.903176 36.790405 -523.096359 13190.303956 1 # 64 -121.903008 36.787205 -532.294815 13545.635983 1 # 65 -121.902896 36.784502 -537.710236 13845.679638 1 # 66 -121.903960 36.782248 -549.931976 14113.163081 1 # 67 -121.902653 36.780101 -540.725723 14378.380550 1 # 68 -121.899628 36.777938 -566.559296 14739.578410 1 # 69 -121.898395 36.777081 -574.437363 14885.003332 1 # 70 -121.898115 36.776045 -575.564926 15002.624678 1 # 71 -121.899815 36.774228 -585.260605 15254.923653 1 # 72 -121.901645 36.773431 -592.584213 15440.648788 1 # 73 -121.906313 36.773732 -600.244537 15858.602629 1 # 74 -121.909954 36.774453 -597.027939 16193.258452 1 # 75 -121.913595 36.776165 -612.676498 16569.645408 1 # 76 -121.916714 36.777667 -625.286942 16894.067702 1 # 77 -121.919813 36.779905 -641.034393 17265.733195 1 # 78 -121.921886 36.781618 -652.070663 17530.950588 1 # 79 -121.924052 36.783570 -660.238953 17821.224831 1 # 80 -121.925863 36.785538 -671.487793 18092.861490 1 # 81 -121.927763 36.785690 -679.842697 18263.245154 1 # 82 -121.929504 36.784772 -686.004242 18449.010739 1 # 83 -121.931334 36.783570 -691.587311 18659.844291 1 # 84 -121.934135 36.781993 -701.448273 18964.947117 1 # 85 -121.936544 36.780867 -712.689056 19213.585609 1 # 86 -121.939532 36.780716 -724.035324 19480.762556 1 # 87 -121.943229 36.780626 -729.746796 19810.836806 1 # 88 -121.947020 36.780596 -736.881989 20149.165008 1 # 89 -121.950904 36.780536 -752.614975 20495.840072 1 # 90 -121.952976 36.780266 -753.674484 20683.157732 1 # 91 -121.955049 36.780040 -761.563934 20869.845971 1 # 92 -121.956729 36.779049 -774.125275 21055.763279 1 # 93 -121.958055 36.777081 -786.894226 21304.102518 1 # 94 -121.959736 36.775054 -790.125427 21574.428953 1 # 95 -121.962201 36.772891 -801.177628 21899.977330 1 # 96 -121.964609 36.769917 -815.815506 22293.738669 1 # 97 -121.966141 36.767919 -821.753479 22554.180354 1 # 98 -121.968886 36.764539 -834.515152 23002.108175 1 # 99 -121.970940 36.762527 -827.255325 23290.963315 1 # 100 -121.973479 36.760889 -837.532013 23581.456776 1 # 101 -121.976168 36.759673 -851.490051 23856.799280 1 # 102 -121.978390 36.758741 -854.706146 24080.478195 1 # 103 -121.980911 36.758336 -866.682648 24309.958700 1 # 104 -121.982647 36.758922 -869.839142 24478.008073 1 # 105 -121.983768 36.759823 -880.524033 24619.445501 1 # 106 -121.985280 36.761490 -885.254120 24848.394190 1 # 107 -121.986643 36.763142 -892.136124 25068.373415 1 # 108 -121.987409 36.765411 -897.063400 25329.216656 1 # 109 -121.987988 36.768324 -909.141373 25656.491049 1 # 110 -121.988025 36.770232 -921.933701 25868.190492 1 # 111 -121.988585 36.772440 -932.879120 26118.193244 1 # 112 -121.990957 36.773957 -943.995453 26388.636365 1 # 113 -121.995606 36.774137 -961.576218 26804.028404 1 # 114 -121.999808 36.774363 -972.164581 27179.882409 1 # 115 -122.004009 36.774723 -981.543243 27556.929416 1 # 116 -122.007482 36.775715 -989.305420 27885.838599 1 # 117 -122.010097 36.777667 -1004.841614 28204.207947 1 # 118 -122.013588 36.778553 -1008.315979 28530.891382 1 # 119 -122.016035 36.779785 -997.601349 28788.510617 1 # 120 -122.019022 36.781167 -1012.524963 29096.017057 1 # 121 -122.020796 36.782218 -1008.880035 29292.629851 3 # 122 -122.019302 36.783916 -1029.020386 29523.409880 3 # 123 -122.014989 36.781753 -1019.578140 29976.966684 1 # 124 -122.010657 36.780236 -1003.703262 30398.595133 1 # 125 -122.007968 36.778028 -984.287460 30741.507067 1 # 126 -122.006194 36.776526 -965.465439 30971.356356 1 # 127 -122.000984 36.775579 -961.738037 31448.044445 1 # 128 -121.995028 36.775594 -948.840302 31979.594217 1 # 129 -121.989052 36.774948 -941.591888 32517.722744 1 # 130 -121.987409 36.773612 -929.355621 32726.215805 1 # 131 -121.986849 36.769241 -913.252396 33213.704097 1 # 132 -121.985411 36.766116 -890.049057 33583.387523 1 # 133 -121.983544 36.764014 -880.677094 33870.007334 1 # 134 -121.983376 36.761040 -876.641602 34200.283689 1 # 135 -121.981490 36.759628 -861.256042 34430.241320 1 # 136 -121.978297 36.761565 -854.084076 34787.191379 1 # 137 -121.971126 36.766432 -806.839355 35624.594753 1 # 138 -121.965580 36.771659 -797.085617 36387.021337 1 # 139 -121.962257 36.775414 -788.171204 36898.388658 1 # 140 -121.960576 36.777667 -784.656250 37189.903989 1 # 141 -121.957346 36.779094 -780.838623 37518.771757 1 # 142 -121.955441 36.781347 -767.919373 37821.057138 1 # 143 -121.952565 36.781858 -758.986694 38083.896408 1 # 144 -121.946906 36.781684 -743.401962 38589.270748 1 # 145 -121.941941 36.782023 -728.146072 39033.937486 1 # 146 -121.937963 36.782654 -683.070694 39395.766281 1 # 147 -121.934976 36.783841 -691.558472 39693.074924 1 # 148 -121.930121 36.785718 -689.721451 40173.763176 1 # 149 -121.927749 36.787310 -681.239655 40449.436629 1 # 150 -121.926461 36.788392 -665.241928 40615.625313 1 # 151 -121.925284 36.787806 -654.735672 40739.145103 1 # 152 -121.923679 36.785628 -652.536926 41020.032773 1 # 153 -121.919365 36.781753 -643.098099 41597.108715 1 # 154 -121.915150 36.778716 -630.012360 42102.097826 1 # 155 -121.912568 36.776901 -621.826080 42408.110089 1 # 156 -121.908255 36.775324 -609.212769 42830.926219 1 # 157 -121.905472 36.774543 -602.218109 43093.982938 1 # 158 -121.901925 36.773882 -589.271088 43418.931897 1 # 159 -121.900356 36.774243 -585.331635 43564.578652 1 # 160 -121.899404 36.775189 -568.498947 43699.611083 1 # 161 -121.898956 36.776451 -571.932678 43845.217311 1 # 162 -121.899964 36.777352 -569.616348 43979.696249 1 # 163 -121.903437 36.778839 -559.522781 44330.811802 1 # 164 -121.906070 36.780461 -545.945740 44626.776417 1 # 165 -121.905304 36.782248 -541.621521 44836.484298 1 # 166 -121.904165 36.784967 -532.650269 45154.800275 1 # 167 -121.904296 36.789999 -517.012573 45713.184515 1 # 168 -121.904670 36.791997 -518.549637 45937.345458 1 # 169 -121.905977 36.794280 -508.549950 46216.185369 1 # 170 -121.906537 36.795857 -506.458321 46398.136641 1 # 171 -121.905622 36.797224 -482.679550 46570.372513 1 # 172 -121.901495 36.798425 -489.956345 46961.955978 1 # 173 -121.899124 36.799387 -487.686363 47198.895770 1 # 174 -121.897294 36.799552 -483.346039 47363.190980 1 # 175 -121.895109 36.798831 -475.572662 47573.909560 1 # 176 -121.894717 36.797840 -460.799896 47689.282757 1 # 177 -121.895333 36.796443 -449.204536 47853.726349 1 # 178 -121.894661 36.795722 -447.440231 47953.693148 1 # 179 -121.893130 36.795827 -435.903648 48090.791148 1 # 180 -121.891076 36.796353 -443.475883 48283.123551 1 # 181 -121.889283 36.796893 -441.488998 48453.950488 1 # 182 -121.887490 36.797434 -436.801552 48624.815380 1 # 183 -121.884223 36.797224 -429.467201 48917.234958 1 # 184 -121.882393 36.796037 -419.726028 49127.001617 1 # 185 -121.880413 36.794160 -417.565002 49400.085423 1 # 186 -121.878061 36.793033 -406.010651 49644.370523 1 # 187 -121.875222 36.793559 -402.869141 49904.321867 1 # 188 -121.872421 36.794415 -397.664658 50171.680640 1 # 189 -121.869396 36.795632 -387.440048 50473.474783 1 # 190 -121.866689 36.796908 -351.775528 50753.433470 1 # 191 -121.864336 36.798711 -333.043129 51043.411629 1 # 192 -121.862039 36.800333 -358.964142 51316.142798 1 # 193 -121.861554 36.801895 -354.102837 51494.757388 1 # 194 -121.860826 36.802887 -350.002937 51622.549643 1 # 195 -121.858753 36.803112 -345.104576 51809.172357 1 # 196 -121.856904 36.802436 -337.746513 51990.382424 1 # 197 -121.855940 36.801168 -334.179337 52155.267167 1 # 198 -121.854819 36.799768 -328.142807 52340.004031 1 # 199 -121.853680 36.798610 -315.273941 52503.810194 1 # 200 -121.852447 36.797546 -304.982193 52665.169646 1 # 201 -121.851102 36.796369 -308.593140 52842.518866 1 # 202 -121.849701 36.795641 -306.706375 52991.345265 1 # 203 -121.848132 36.795137 -300.204422 53142.093780 1 # 204 -121.846283 36.794465 -293.214104 53323.136609 1 # 205 -121.844452 36.793718 -287.328094 53506.329414 1 # 206 -121.842136 36.793064 -279.246452 53725.348996 1 # 207 -121.839857 36.792485 -269.850266 53938.605783 1 # 208 -121.837503 36.792037 -263.549629 54154.452140 1 # 209 -121.835635 36.791888 -256.300446 54321.950992 1 # 210 -121.834178 36.791608 -249.569340 54455.618895 1 # 211 -121.833337 36.791047 -240.275368 54553.113556 1 # 212 -121.832235 36.790412 -236.069809 54674.078355 1 # 213 -121.831059 36.789796 -233.511322 54799.307393 1 # 214 -121.829826 36.789740 -228.482319 54909.506222 1 # 215 -121.828294 36.790095 -231.164745 55051.770513 1 # 216 -121.827117 36.790599 -228.233524 55170.753753 1 # 217 -121.826164 36.791215 -226.673950 55279.849719 1 # 218 -121.825100 36.791888 -222.875793 55400.633711 1 # 219 -121.824259 36.792448 -216.919640 55498.057160 1 # 220 -121.823269 36.793213 -214.228035 55620.559044 1 # 221 -121.822821 36.794558 -209.237309 55775.040839 1 # 222 -121.822653 36.795566 -206.292473 55887.873057 1 # 223 -121.822597 36.796631 -203.096378 56006.134572 1 # 224 -121.822484 36.797695 -200.974106 56124.609350 1 # 225 -121.822410 36.798554 -197.154713 56220.139165 1 # 226 -121.822148 36.799320 -191.901207 56308.279098 1 # 227 -121.821700 36.799824 -190.796265 56377.012617 1 # 228 -121.820616 36.799787 -187.372787 56473.815201 1 # 229 -121.819271 36.799282 -181.576492 56606.252590 1 # 230 -121.817161 36.798647 -177.234844 56807.261063 1 # 231 -121.815125 36.798610 -166.393429 56988.964281 1 # 232 -121.814228 36.799058 -161.825287 57083.174612 1 # 233 -121.813742 36.800104 -157.932919 57207.059344 1 # 234 -121.813294 36.800832 -150.941162 57297.176499 1 # 235 -121.812379 36.801467 -147.654232 57405.007945 1 # 236 -121.810996 36.802233 -134.780846 57554.831943 1 # 237 -121.809296 36.802532 -138.524292 57710.088134 1 # 238 -121.807578 36.802961 -131.144505 57870.583961 1 # 239 -121.805616 36.803857 -114.199736 58071.884910 1 # 240 -121.803580 36.804716 -110.825325 58277.011644 1 # 241 -121.802123 36.805053 -103.134722 58412.268784 1 # 242 -121.801843 36.804156 -90.023331 58514.873970 4 # 243 -121.801582 36.803185 -115.223200 58625.089647 1 # 244 -121.802852 36.803148 -112.746939 58738.470135 1 # 245 -121.804925 36.802980 -124.392689 58924.354891 1 # 246 -121.806775 36.802756 -128.444338 59091.268113 1 # 247 -121.808811 36.802289 -143.905285 59280.160698 1 # 248 -121.810249 36.801747 -151.414177 59421.849932 1 # 249 -121.811930 36.801019 -148.342472 59592.192998 1 # 250 -121.812846 36.800384 -156.926903 59700.092375 1 # 251 -121.813350 36.799880 -159.591278 59771.846643 1 # 252 -121.814134 36.798760 -162.056572 59914.440712 1 # 253 -121.815293 36.798386 -170.969269 60025.863764 1 # 254 -121.816544 36.798479 -175.677921 60137.957174 1 # 255 -121.818767 36.799114 -180.437801 60348.438316 1 # 256 -121.819682 36.799432 -184.314411 60437.373306 1 # 257 -121.820897 36.799843 -188.396774 60554.976729 1 # 258 -121.821905 36.799731 -191.419003 60645.765806 1 # 259 -121.822186 36.798946 -193.526016 60736.394153 1 # 260 -121.822204 36.797807 -199.072941 60862.770225 1 # 261 -121.822260 36.796295 -204.215763 61030.592778 1 # 262 -121.822316 36.795286 -206.872231 61142.647259 1 # 263 -121.822522 36.794297 -210.773357 61253.900263 1 # 264 -121.822914 36.793288 -215.188606 61371.180456 1 # 265 -121.823885 36.792485 -216.129261 61495.452149 1 # 266 -121.824614 36.791925 -221.714779 61585.403789 1 # 267 -121.825660 36.791159 -224.878403 61711.632188 1 # 268 -121.826669 36.790599 -226.959850 61821.022147 1 # 269 -121.827976 36.789908 -230.008591 61960.588570 1 # 270 -121.829415 36.789423 -233.336216 62099.812517 1 # 271 -121.830890 36.789348 -232.443066 62231.693729 1 # 272 -121.832105 36.789703 -237.532841 62347.043575 1 # 273 -121.833337 36.790207 -246.495502 62470.380778 1 # 274 -121.834645 36.790749 -249.698364 62601.674991 1 # 275 -121.836756 36.791271 -257.631989 62798.742924 1 # 276 -121.838792 36.791813 -267.318291 62990.108490 1 # 277 -121.840473 36.792149 -272.961433 63144.666247 1 # 278 -121.842379 36.792653 -280.514801 63323.693115 1 # 279 -121.844265 36.793176 -287.022446 63501.700322 1 # 280 -121.845946 36.793792 -293.352623 63666.527896 1 # 281 -121.848879 36.794894 -304.394630 63955.379948 1 # 282 -121.851289 36.796014 -313.288704 64203.732743 1 # 283 -121.852634 36.797023 -315.506508 64367.844366 1 # 284 -121.853867 36.798199 -320.660912 64538.504780 1 # 285 -121.855025 36.799562 -327.953537 64721.646965 1 # 286 -121.858473 36.801850 -334.714951 65120.481774 1 # 287 -121.860079 36.801730 -330.992638 65264.382850 1 # 288 -121.861255 36.799612 -359.571938 65521.722171 1 # 289 -121.863459 36.797479 -358.294327 65829.405013 1 # 290 -121.865232 36.796232 -371.500725 66039.559404 1 # 291 -121.870187 36.794297 -389.376678 66531.034619 1 # 292 -121.872858 36.793407 -390.544189 66789.004072 1 # 293 -121.877458 36.792368 -409.830551 67215.331345 1 # 294 -121.881086 36.793979 -421.081581 67585.111034 1 # 295 -121.884409 36.796398 -430.834206 67985.026380 1 # 296 -121.887378 36.796983 -433.287628 68257.764866 1 # 297 -121.894866 36.794565 -450.379807 68977.720130 1 # 298 -121.896267 36.795061 -447.368950 69114.300432 1 # 299 -121.896622 36.796398 -457.025848 69265.975005 1 # 300 -121.896285 36.798155 -476.485016 69463.206743 1 # 301 -121.898078 36.798876 -469.559883 69642.063534 1 # 302 -121.901795 36.797859 -490.738609 69992.366026 1 # 303 -121.904016 36.797074 -499.732147 70208.821299 1 # 304 -121.905398 36.796052 -501.463310 70376.333058 1 # 305 -121.903997 36.791952 -516.649567 70848.061494 1 # 306 -121.903736 36.788197 -526.455612 71265.300679 1 # 307 -121.903437 36.784787 -538.741745 71644.553758 1 # 308 -121.904800 36.780987 -551.686981 72083.330121 1 # 309 -121.903724 36.779903 -553.585800 72237.224328 1 # 310 -121.899012 36.777126 -573.608383 72758.523382 1 # 311 -121.898582 36.776300 -573.434448 72857.872706 1 # 312 -121.899124 36.775099 -578.929199 72999.623169 1 # 313 -121.900904 36.773819 -588.957184 73212.703213 1 # 314 -121.903997 36.773837 -597.857117 73488.759011 1 # 315 -121.908927 36.774648 -607.126480 73937.861175 1 # 316 -121.911354 36.775805 -615.055313 74189.642053 1 # 317 -121.914921 36.777532 -628.314041 74561.192690 1 # 318 -121.917376 36.779161 -636.869324 74845.205774 1 # 319 -121.921531 36.782574 -654.935715 75375.169509 1 # 320 -121.925389 36.786284 -671.436646 75911.765598 1 # 321 -121.927170 36.786729 -679.851303 76078.183371 1 # 322 -121.929841 36.785394 -690.333878 76358.798072 1 # 323 -121.932455 36.783796 -693.670349 76651.786115 1 # 324 -121.935200 36.782534 -695.451889 76933.933126 1 # 325 -121.939756 36.781573 -722.557205 77354.253445 1 # 326 -121.944051 36.781227 -735.384186 77739.456312 1 # 327 -121.948831 36.781167 -750.049835 78166.075853 1 # 328 -121.953985 36.781077 -761.094223 78626.127594 1 # 329 -121.955721 36.780176 -764.289612 78810.497602 1 # 330 -121.958926 36.777677 -786.196823 79208.833580 1 # 331 -121.961894 36.774264 -794.117447 79670.928162 1 # 332 -121.964120 36.771593 -808.361328 80027.686506 1 # 333 -121.966477 36.769181 -815.914200 80368.066109 1 # 334 -121.970790 36.764629 -833.528259 81003.063704 1 # 335 -121.978446 36.760003 -860.805038 81857.698246 1 # 336 -121.982274 36.759222 -867.137650 82210.216569 1 # 337 -121.984048 36.760679 -884.562866 82436.498446 1 # 338 -121.986082 36.764767 -894.989868 82925.012236 1 # 339 -121.987409 36.769106 -915.777725 83420.738694 1 # 340 -121.988308 36.773226 -937.187073 83884.801110 1 # 341 -121.991424 36.774561 -950.960587 84199.876537 1 # 342 -121.996092 36.774873 -963.140976 84617.915785 1 # 343 -122.002161 36.775084 -974.554688 85160.057463 1 # 344 -122.006586 36.776075 -979.946426 85569.987067 1 # 345 -122.014485 36.780401 -1012.079224 86422.775622 1 # 346 -122.019844 36.783075 -1029.818329 86985.540554 4 # # A total of 1026 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 62000; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1004.649142; abortDepth = 1029.649142; 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 = 1235; 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 346 # Segment length 100.063632 meters # Minimum depth: 1029.616742 meters looking forward 100.000000 meters along route # Maximum depth: 1029.818329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.616742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783075; longitude = -122.019844; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 979.398472; finalDepth = 979.616742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.201587 # Actual altitude: 50.201587 # Commanded vehicle depth:979.616742 # Seafloor depth:-1029.818329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.04; MB_Bottom_Detect_Filter_Max_Range = 200.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 346 # Segment length 100.063632 meters # Minimum depth: 1029.398472 meters looking forward 100.000000 meters along route # Maximum depth: 1029.658099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.398472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782786; longitude = -122.019265; captureRadius = 10; duration = 100; initialDepth = 975.356137; finalDepth = 979.398472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.201587 # Actual altitude: 50.201587 # Commanded vehicle depth:979.398472 # Seafloor depth:-1029.537307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.04; MB_Bottom_Detect_Filter_Max_Range = 200.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 346 # Segment length 100.063632 meters # Minimum depth: 1025.356137 meters looking forward 100.000000 meters along route # Maximum depth: 1029.308872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.356137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782311; longitude = -122.018313; captureRadius = 10; duration = 100; initialDepth = 972.025933; finalDepth = 975.356137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9527350000001 # Actual altitude: 53.9527350000001 # Commanded vehicle depth:975.356137 # Seafloor depth:-1029.308872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.79; MB_Bottom_Detect_Filter_Max_Range = 215.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 346 # Segment length 100.063632 meters # Minimum depth: 1022.025933 meters looking forward 100.000000 meters along route # Maximum depth: 1025.098443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.025933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781836; longitude = -122.017360; captureRadius = 10; duration = 100; initialDepth = 967.303693; finalDepth = 972.025933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9527350000001 # Actual altitude: 53.9527350000001 # Commanded vehicle depth:972.025933 # Seafloor depth:-1025.098443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.79; MB_Bottom_Detect_Filter_Max_Range = 215.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 346 # Segment length 100.063632 meters # Minimum depth: 1017.303693 meters looking forward 100.000000 meters along route # Maximum depth: 1021.917604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.303693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781361; longitude = -122.016408; captureRadius = 10; duration = 100; initialDepth = 961.864363; finalDepth = 967.303693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.613911 # Actual altitude: 54.613911 # Commanded vehicle depth:967.303693 # Seafloor depth:-1021.917604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.92; MB_Bottom_Detect_Filter_Max_Range = 218.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 346 # Segment length 100.063632 meters # Minimum depth: 1011.864363 meters looking forward 100.000000 meters along route # Maximum depth: 1017.267516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.864363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780882; longitude = -122.015448; captureRadius = 10; duration = 100; initialDepth = 961.864363; finalDepth = 961.864363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.403153 # Actual altitude: 55.403153 # Commanded vehicle depth:961.864363 # Seafloor depth:-1017.267516 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.08; MB_Bottom_Detect_Filter_Max_Range = 221.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 345 # Segment length 100.063632 meters # Minimum depth: 1011.864363 meters looking forward 100.000000 meters along route # Maximum depth: 1014.773900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.864363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780401; longitude = -122.014485; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 962.556520; finalDepth = 961.864363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.403153 # Actual altitude: 55.403153 # Commanded vehicle depth:961.864363 # Seafloor depth:-1012.079224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.08; MB_Bottom_Detect_Filter_Max_Range = 221.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 345 # Segment length 100.063632 meters # Minimum depth: 1012.556520 meters looking forward 100.000000 meters along route # Maximum depth: 1013.097275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.556520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780251; longitude = -122.014211; captureRadius = 10; duration = 100; initialDepth = 961.337727; finalDepth = 962.556520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2148609999999 # Actual altitude: 50.2148609999999 # Commanded vehicle depth:962.55652 # Seafloor depth:-1012.690705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.04; MB_Bottom_Detect_Filter_Max_Range = 200.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 345 # Segment length 100.063632 meters # Minimum depth: 1011.337727 meters looking forward 100.000000 meters along route # Maximum depth: 1012.532538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.337727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779736; longitude = -122.013271; captureRadius = 10; duration = 100; initialDepth = 959.313744; finalDepth = 961.337727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.187984 # Actual altitude: 51.187984 # Commanded vehicle depth:961.337727 # Seafloor depth:-1012.525711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.24; MB_Bottom_Detect_Filter_Max_Range = 204.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 345 # Segment length 100.063632 meters # Minimum depth: 1009.313744 meters looking forward 100.000000 meters along route # Maximum depth: 1011.335145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.313744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779214; longitude = -122.012318; captureRadius = 10; duration = 100; initialDepth = 956.539920; finalDepth = 959.313744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.021401 # Actual altitude: 52.021401 # Commanded vehicle depth:959.313744 # Seafloor depth:-1011.335145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.40; MB_Bottom_Detect_Filter_Max_Range = 208.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 345 # Segment length 100.063632 meters # Minimum depth: 1006.539920 meters looking forward 100.000000 meters along route # Maximum depth: 1009.407891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.539920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778693; longitude = -122.011366; captureRadius = 10; duration = 100; initialDepth = 954.565313; finalDepth = 956.539920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.851101 # Actual altitude: 52.851101 # Commanded vehicle depth:956.53992 # Seafloor depth:-1009.391021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.57; MB_Bottom_Detect_Filter_Max_Range = 211.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 345 # Segment length 100.063632 meters # Minimum depth: 1004.565313 meters looking forward 100.000000 meters along route # Maximum depth: 1006.484427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.565313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778171; longitude = -122.010414; captureRadius = 10; duration = 100; initialDepth = 947.522400; finalDepth = 954.565313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.851101 # Actual altitude: 52.851101 # Commanded vehicle depth:954.565313 # Seafloor depth:-1006.484427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.57; MB_Bottom_Detect_Filter_Max_Range = 211.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 345 # Segment length 100.063632 meters # Minimum depth: 997.522400 meters looking forward 100.000000 meters along route # Maximum depth: 1004.491098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.522400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777637; longitude = -122.009438; captureRadius = 10; duration = 100; initialDepth = 935.241510; finalDepth = 947.522400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.968698 # Actual altitude: 56.968698 # Commanded vehicle depth:947.5224 # Seafloor depth:-1004.491098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.39; MB_Bottom_Detect_Filter_Max_Range = 227.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 345 # Segment length 100.063632 meters # Minimum depth: 985.241510 meters looking forward 100.000000 meters along route # Maximum depth: 997.199000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.241510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777128; longitude = -122.008509; captureRadius = 10; duration = 100; initialDepth = 929.083067; finalDepth = 935.241510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.95749 # Actual altitude: 61.95749 # Commanded vehicle depth:935.24151 # Seafloor depth:-997.199000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.39; MB_Bottom_Detect_Filter_Max_Range = 247.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 345 # Segment length 100.063632 meters # Minimum depth: 979.083067 meters looking forward 100.000000 meters along route # Maximum depth: 985.035210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.083067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776601; longitude = -122.007546; captureRadius = 10; duration = 100; initialDepth = 927.034941; finalDepth = 929.083067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.95749 # Actual altitude: 61.95749 # Commanded vehicle depth:929.083067 # Seafloor depth:-985.035210 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.39; MB_Bottom_Detect_Filter_Max_Range = 247.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 344 # Segment length 100.063632 meters # Minimum depth: 977.034941 meters looking forward 100.000000 meters along route # Maximum depth: 980.392024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.034941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776075; longitude = -122.006586; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 925.806331; finalDepth = 927.034941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.952143 # Actual altitude: 55.952143 # Commanded vehicle depth:927.034941 # Seafloor depth:-979.946426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.19; MB_Bottom_Detect_Filter_Max_Range = 223.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 344 # Segment length 100.063632 meters # Minimum depth: 975.806331 meters looking forward 100.000000 meters along route # Maximum depth: 977.060080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.806331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775828; longitude = -122.005484; captureRadius = 10; duration = 100; initialDepth = 925.146055; finalDepth = 925.806331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.911485 # Actual altitude: 52.911485 # Commanded vehicle depth:925.806331 # Seafloor depth:-976.981795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.58; MB_Bottom_Detect_Filter_Max_Range = 211.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 344 # Segment length 100.063632 meters # Minimum depth: 975.146055 meters looking forward 100.000000 meters along route # Maximum depth: 976.067267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.146055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775577; longitude = -122.004364; captureRadius = 10; duration = 100; initialDepth = 923.739052; finalDepth = 925.146055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.175464 # Actual altitude: 51.175464 # Commanded vehicle depth:925.146055 # Seafloor depth:-976.025418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.24; MB_Bottom_Detect_Filter_Max_Range = 204.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 344 # Segment length 100.063632 meters # Minimum depth: 973.739052 meters looking forward 100.000000 meters along route # Maximum depth: 974.926586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.739052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775326; longitude = -122.003244; captureRadius = 10; duration = 100; initialDepth = 922.852304; finalDepth = 923.739052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.117111 # Actual altitude: 51.117111 # Commanded vehicle depth:923.739052 # Seafloor depth:-974.856163 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.22; MB_Bottom_Detect_Filter_Max_Range = 204.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 343 # Segment length 100.063632 meters # Minimum depth: 972.852304 meters looking forward 100.000000 meters along route # Maximum depth: 974.926586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.852304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775084; longitude = -122.002161; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 918.212383; finalDepth = 922.852304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7023840000001 # Actual altitude: 51.7023840000001 # Commanded vehicle depth:922.852304 # Seafloor depth:-974.554688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.34; MB_Bottom_Detect_Filter_Max_Range = 206.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 343 # Segment length 100.063632 meters # Minimum depth: 968.212383 meters looking forward 100.000000 meters along route # Maximum depth: 972.575579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.212383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775069; longitude = -122.001731; captureRadius = 10; duration = 100; initialDepth = 917.527885; finalDepth = 918.212383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3631959999999 # Actual altitude: 54.3631959999999 # Commanded vehicle depth:918.212383 # Seafloor depth:-972.575579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.87; MB_Bottom_Detect_Filter_Max_Range = 217.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 343 # Segment length 100.063632 meters # Minimum depth: 967.527885 meters looking forward 100.000000 meters along route # Maximum depth: 969.123863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.527885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775030; longitude = -122.000611; captureRadius = 10; duration = 100; initialDepth = 918.014723; finalDepth = 917.527885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3631959999999 # Actual altitude: 54.3631959999999 # Commanded vehicle depth:917.527885 # Seafloor depth:-968.096023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.87; MB_Bottom_Detect_Filter_Max_Range = 217.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 343 # Segment length 100.063632 meters # Minimum depth: 968.014723 meters looking forward 100.000000 meters along route # Maximum depth: 968.666075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.014723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774991; longitude = -121.999490; captureRadius = 10; duration = 100; initialDepth = 915.850425; finalDepth = 918.014723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.614726 # Actual altitude: 50.614726 # Commanded vehicle depth:918.014723 # Seafloor depth:-968.629449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.12; MB_Bottom_Detect_Filter_Max_Range = 202.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 343 # Segment length 100.063632 meters # Minimum depth: 965.850425 meters looking forward 100.000000 meters along route # Maximum depth: 967.892982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.850425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774952; longitude = -121.998370; captureRadius = 10; duration = 100; initialDepth = 913.196020; finalDepth = 915.850425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.042557 # Actual altitude: 52.042557 # Commanded vehicle depth:915.850425 # Seafloor depth:-967.892982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.41; MB_Bottom_Detect_Filter_Max_Range = 208.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 343 # Segment length 100.063632 meters # Minimum depth: 963.196020 meters looking forward 100.000000 meters along route # Maximum depth: 965.961305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.196020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774913; longitude = -121.997250; captureRadius = 10; duration = 100; initialDepth = 912.886836; finalDepth = 913.196020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7652850000001 # Actual altitude: 52.7652850000001 # Commanded vehicle depth:913.19602 # Seafloor depth:-965.961305 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.55; MB_Bottom_Detect_Filter_Max_Range = 211.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 342 # Segment length 100.063632 meters # Minimum depth: 962.886836 meters looking forward 100.000000 meters along route # Maximum depth: 965.333575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 912.886836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774873; longitude = -121.996092; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 910.616998; finalDepth = 912.886836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7652850000001 # Actual altitude: 52.7652850000001 # Commanded vehicle depth:912.886836 # Seafloor depth:-963.140976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.55; MB_Bottom_Detect_Filter_Max_Range = 211.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 342 # Segment length 100.063632 meters # Minimum depth: 960.616998 meters looking forward 100.000000 meters along route # Maximum depth: 963.259728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.616998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774861; longitude = -121.995905; captureRadius = 10; duration = 100; initialDepth = 908.558370; finalDepth = 910.616998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.288325 # Actual altitude: 52.288325 # Commanded vehicle depth:910.616998 # Seafloor depth:-962.905323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.46; MB_Bottom_Detect_Filter_Max_Range = 209.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 342 # Segment length 100.063632 meters # Minimum depth: 958.558370 meters looking forward 100.000000 meters along route # Maximum depth: 960.258870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.558370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774786; longitude = -121.994785; captureRadius = 10; duration = 100; initialDepth = 902.519467; finalDepth = 908.558370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.288325 # Actual altitude: 52.288325 # Commanded vehicle depth:908.55837 # Seafloor depth:-960.258870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.46; MB_Bottom_Detect_Filter_Max_Range = 209.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 342 # Segment length 100.063632 meters # Minimum depth: 952.519467 meters looking forward 100.000000 meters along route # Maximum depth: 958.301382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.519467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774711; longitude = -121.993664; captureRadius = 10; duration = 100; initialDepth = 901.018934; finalDepth = 902.519467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.781915 # Actual altitude: 55.781915 # Commanded vehicle depth:902.519467 # Seafloor depth:-958.301382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.16; MB_Bottom_Detect_Filter_Max_Range = 223.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 342 # Segment length 100.063632 meters # Minimum depth: 951.018934 meters looking forward 100.000000 meters along route # Maximum depth: 952.124546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.018934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774636; longitude = -121.992544; captureRadius = 10; duration = 100; initialDepth = 900.942569; finalDepth = 901.018934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.781915 # Actual altitude: 55.781915 # Commanded vehicle depth:901.018934 # Seafloor depth:-952.124546 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.16; MB_Bottom_Detect_Filter_Max_Range = 223.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 341 # Segment length 100.063632 meters # Minimum depth: 950.942569 meters looking forward 100.000000 meters along route # Maximum depth: 952.048730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.942569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774561; longitude = -121.991424; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 891.685883; finalDepth = 900.942569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1056120000001 # Actual altitude: 51.1056120000001 # Commanded vehicle depth:900.942569 # Seafloor depth:-950.960587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.22; MB_Bottom_Detect_Filter_Max_Range = 204.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 341 # Segment length 100.063632 meters # Minimum depth: 941.685883 meters looking forward 100.000000 meters along route # Maximum depth: 950.848937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.685883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774537; longitude = -121.991368; captureRadius = 10; duration = 100; initialDepth = 885.290606; finalDepth = 891.685883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.163054 # Actual altitude: 59.163054 # Commanded vehicle depth:891.685883 # Seafloor depth:-950.848937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.83; MB_Bottom_Detect_Filter_Max_Range = 236.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 341 # Segment length 100.063632 meters # Minimum depth: 935.290606 meters looking forward 100.000000 meters along route # Maximum depth: 941.039787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 885.290606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774105; longitude = -121.990359; captureRadius = 10; duration = 100; initialDepth = 886.409512; finalDepth = 885.290606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.163054 # Actual altitude: 59.163054 # Commanded vehicle depth:885.290606 # Seafloor depth:-941.039787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.83; MB_Bottom_Detect_Filter_Max_Range = 236.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 341 # Segment length 100.063632 meters # Minimum depth: 936.409512 meters looking forward 100.000000 meters along route # Maximum depth: 937.575592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.409512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.773672; longitude = -121.989348; captureRadius = 10; duration = 100; initialDepth = 885.087460; finalDepth = 886.409512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.749181 # Actual altitude: 55.749181 # Commanded vehicle depth:886.409512 # Seafloor depth:-936.409512 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.15; MB_Bottom_Detect_Filter_Max_Range = 223.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 340 # Segment length 100.063632 meters # Minimum depth: 935.087460 meters looking forward 100.000000 meters along route # Maximum depth: 937.575592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 885.087460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.773226; longitude = -121.988308; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 879.803904; finalDepth = 885.087460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0996130000001 # Actual altitude: 52.0996130000001 # Commanded vehicle depth:885.08746 # Seafloor depth:-937.187073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.42; MB_Bottom_Detect_Filter_Max_Range = 208.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 340 # Segment length 100.063632 meters # Minimum depth: 929.803904 meters looking forward 100.000000 meters along route # Maximum depth: 934.904291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.803904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.772725; longitude = -121.988199; captureRadius = 10; duration = 100; initialDepth = 875.961956; finalDepth = 879.803904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.100387 # Actual altitude: 55.100387 # Commanded vehicle depth:879.803904 # Seafloor depth:-934.904291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.02; MB_Bottom_Detect_Filter_Max_Range = 220.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 340 # Segment length 100.063632 meters # Minimum depth: 925.961956 meters looking forward 100.000000 meters along route # Maximum depth: 929.712607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.961956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.771824; longitude = -121.988002; captureRadius = 10; duration = 100; initialDepth = 874.588118; finalDepth = 875.961956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.100387 # Actual altitude: 55.100387 # Commanded vehicle depth:875.961956 # Seafloor depth:-929.712607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.02; MB_Bottom_Detect_Filter_Max_Range = 220.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 340 # Segment length 100.063632 meters # Minimum depth: 924.588118 meters looking forward 100.000000 meters along route # Maximum depth: 926.452733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.588118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.770923; longitude = -121.987805; captureRadius = 10; duration = 100; initialDepth = 865.981139; finalDepth = 874.588118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7506510000001 # Actual altitude: 53.7506510000001 # Commanded vehicle depth:874.588118 # Seafloor depth:-926.034117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.75; MB_Bottom_Detect_Filter_Max_Range = 215.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 340 # Segment length 100.063632 meters # Minimum depth: 915.981139 meters looking forward 100.000000 meters along route # Maximum depth: 924.441849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.981139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.770022; longitude = -121.987609; captureRadius = 10; duration = 100; initialDepth = 858.535896; finalDepth = 865.981139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.4607100000001 # Actual altitude: 58.4607100000001 # Commanded vehicle depth:865.981139 # Seafloor depth:-924.441849 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.69; MB_Bottom_Detect_Filter_Max_Range = 233.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 339 # Segment length 100.063632 meters # Minimum depth: 908.535896 meters looking forward 100.000000 meters along route # Maximum depth: 916.867546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.535896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.769106; longitude = -121.987409; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 849.693306; finalDepth = 858.535896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.4607100000001 # Actual altitude: 58.4607100000001 # Commanded vehicle depth:858.535896 # Seafloor depth:-915.777725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.69; MB_Bottom_Detect_Filter_Max_Range = 233.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 339 # Segment length 100.063632 meters # Minimum depth: 899.693306 meters looking forward 100.000000 meters along route # Maximum depth: 907.863798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.693306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.768355; longitude = -121.987179; captureRadius = 10; duration = 100; initialDepth = 847.939369; finalDepth = 849.693306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.170492 # Actual altitude: 58.170492 # Commanded vehicle depth:849.693306 # Seafloor depth:-907.863798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.63; MB_Bottom_Detect_Filter_Max_Range = 232.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 339 # Segment length 100.063632 meters # Minimum depth: 897.939369 meters looking forward 100.000000 meters along route # Maximum depth: 899.783273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.939369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.767453; longitude = -121.986904; captureRadius = 10; duration = 100; initialDepth = 842.055425; finalDepth = 847.939369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.170492 # Actual altitude: 58.170492 # Commanded vehicle depth:847.939369 # Seafloor depth:-899.463797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.63; MB_Bottom_Detect_Filter_Max_Range = 232.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 339 # Segment length 100.063632 meters # Minimum depth: 892.055425 meters looking forward 100.000000 meters along route # Maximum depth: 897.707844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.055425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.766552; longitude = -121.986628; captureRadius = 10; duration = 100; initialDepth = 842.097822; finalDepth = 842.055425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.652419 # Actual altitude: 55.652419 # Commanded vehicle depth:842.055425 # Seafloor depth:-897.707844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.13; MB_Bottom_Detect_Filter_Max_Range = 222.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 339 # Segment length 100.063632 meters # Minimum depth: 892.097822 meters looking forward 100.000000 meters along route # Maximum depth: 894.948615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.097822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.765651; longitude = -121.986352; captureRadius = 10; duration = 100; initialDepth = 844.242798; finalDepth = 842.097822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.652419 # Actual altitude: 55.652419 # Commanded vehicle depth:842.097822 # Seafloor depth:-892.097822 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.13; MB_Bottom_Detect_Filter_Max_Range = 222.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 338 # Segment length 100.063632 meters # Minimum depth: 894.242798 meters looking forward 100.000000 meters along route # Maximum depth: 895.061342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 844.242798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.764767; longitude = -121.986082; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 841.892986; finalDepth = 844.242798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.74707 # Actual altitude: 50.74707 # Commanded vehicle depth:844.242798 # Seafloor depth:-894.989868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.15; MB_Bottom_Detect_Filter_Max_Range = 202.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 338 # Segment length 100.063632 meters # Minimum depth: 891.892986 meters looking forward 100.000000 meters along route # Maximum depth: 894.268643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 841.892986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.764119; longitude = -121.985759; captureRadius = 10; duration = 100; initialDepth = 838.650071; finalDepth = 841.892986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.375657 # Actual altitude: 52.375657 # Commanded vehicle depth:841.892986 # Seafloor depth:-894.268643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.48; MB_Bottom_Detect_Filter_Max_Range = 209.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 338 # Segment length 100.063632 meters # Minimum depth: 888.650071 meters looking forward 100.000000 meters along route # Maximum depth: 891.798382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 838.650071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.763263; longitude = -121.985333; captureRadius = 10; duration = 100; initialDepth = 836.180128; finalDepth = 838.650071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1483109999999 # Actual altitude: 53.1483109999999 # Commanded vehicle depth:838.650071 # Seafloor depth:-891.798382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.63; MB_Bottom_Detect_Filter_Max_Range = 212.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 338 # Segment length 100.063632 meters # Minimum depth: 886.180128 meters looking forward 100.000000 meters along route # Maximum depth: 888.528627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.180128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.762406; longitude = -121.984907; captureRadius = 10; duration = 100; initialDepth = 833.944849; finalDepth = 836.180128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1483109999999 # Actual altitude: 53.1483109999999 # Commanded vehicle depth:836.180128 # Seafloor depth:-888.528627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.63; MB_Bottom_Detect_Filter_Max_Range = 212.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 338 # Segment length 100.063632 meters # Minimum depth: 883.944849 meters looking forward 100.000000 meters along route # Maximum depth: 886.164007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 833.944849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.761542; longitude = -121.984477; captureRadius = 10; duration = 100; initialDepth = 833.720911; finalDepth = 833.944849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3484990000001 # Actual altitude: 52.3484990000001 # Commanded vehicle depth:833.944849 # Seafloor depth:-886.164007 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.47; MB_Bottom_Detect_Filter_Max_Range = 209.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 337 # Segment length 100.063632 meters # Minimum depth: 883.720911 meters looking forward 100.000000 meters along route # Maximum depth: 884.659657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 833.720911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.760679; longitude = -121.984048; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 819.536375; finalDepth = 833.720911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.219158 # Actual altitude: 52.219158 # Commanded vehicle depth:833.720911 # Seafloor depth:-884.562866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.44; MB_Bottom_Detect_Filter_Max_Range = 208.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 337 # Segment length 100.063632 meters # Minimum depth: 869.536375 meters looking forward 100.000000 meters along route # Maximum depth: 883.112304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.536375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.760526; longitude = -121.983861; captureRadius = 10; duration = 100; initialDepth = 816.656808; finalDepth = 819.536375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.575929 # Actual altitude: 63.575929 # Commanded vehicle depth:819.536375 # Seafloor depth:-883.112304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.72; MB_Bottom_Detect_Filter_Max_Range = 254.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 337 # Segment length 100.063632 meters # Minimum depth: 866.656808 meters looking forward 100.000000 meters along route # Maximum depth: 869.501180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 816.656808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.759881; longitude = -121.983077; captureRadius = 10; duration = 100; initialDepth = 814.256651; finalDepth = 816.656808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.575929 # Actual altitude: 63.575929 # Commanded vehicle depth:816.656808 # Seafloor depth:-869.501180 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.72; MB_Bottom_Detect_Filter_Max_Range = 254.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 336 # Segment length 100.063632 meters # Minimum depth: 864.256651 meters looking forward 100.000000 meters along route # Maximum depth: 867.463736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 814.256651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.759222; longitude = -121.982274; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 811.751853; finalDepth = 814.256651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.880999 # Actual altitude: 52.880999 # Commanded vehicle depth:814.256651 # Seafloor depth:-867.137650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.58; MB_Bottom_Detect_Filter_Max_Range = 211.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 336 # Segment length 100.063632 meters # Minimum depth: 861.751853 meters looking forward 100.000000 meters along route # Maximum depth: 864.038409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 811.751853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.759321; longitude = -121.981788; captureRadius = 10; duration = 100; initialDepth = 808.402710; finalDepth = 811.751853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.880999 # Actual altitude: 52.880999 # Commanded vehicle depth:811.751853 # Seafloor depth:-864.038409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.58; MB_Bottom_Detect_Filter_Max_Range = 211.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 336 # Segment length 100.063632 meters # Minimum depth: 858.402710 meters looking forward 100.000000 meters along route # Maximum depth: 861.558981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.402710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.759550; longitude = -121.980668; captureRadius = 10; duration = 100; initialDepth = 809.935898; finalDepth = 808.402710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1562710000001 # Actual altitude: 53.1562710000001 # Commanded vehicle depth:808.40271 # Seafloor depth:-861.558981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.63; MB_Bottom_Detect_Filter_Max_Range = 212.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 336 # Segment length 100.063632 meters # Minimum depth: 859.935898 meters looking forward 100.000000 meters along route # Maximum depth: 862.179207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 809.935898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.759778; longitude = -121.979548; captureRadius = 10; duration = 100; initialDepth = 809.719768; finalDepth = 809.935898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1562710000001 # Actual altitude: 53.1562710000001 # Commanded vehicle depth:809.935898 # Seafloor depth:-859.935898 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.63; MB_Bottom_Detect_Filter_Max_Range = 212.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 335 # Segment length 100.063632 meters # Minimum depth: 859.719768 meters looking forward 100.000000 meters along route # Maximum depth: 862.128452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 809.719768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.760003; longitude = -121.978446; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 807.176317; finalDepth = 809.719768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0852699999999 # Actual altitude: 51.0852699999999 # Commanded vehicle depth:809.719768 # Seafloor depth:-860.805038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.22; MB_Bottom_Detect_Filter_Max_Range = 204.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 335 # Segment length 100.063632 meters # Minimum depth: 857.176317 meters looking forward 100.000000 meters along route # Maximum depth: 859.369772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.176317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.760285; longitude = -121.977979; captureRadius = 10; duration = 100; initialDepth = 805.205327; finalDepth = 807.176317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.193455 # Actual altitude: 52.193455 # Commanded vehicle depth:807.176317 # Seafloor depth:-859.369772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.44; MB_Bottom_Detect_Filter_Max_Range = 208.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 335 # Segment length 100.063632 meters # Minimum depth: 855.205327 meters looking forward 100.000000 meters along route # Maximum depth: 857.218976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.205327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.760827; longitude = -121.977083; captureRadius = 10; duration = 100; initialDepth = 802.898848; finalDepth = 805.205327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.193455 # Actual altitude: 52.193455 # Commanded vehicle depth:805.205327 # Seafloor depth:-857.218976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.44; MB_Bottom_Detect_Filter_Max_Range = 208.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 335 # Segment length 100.063632 meters # Minimum depth: 852.898848 meters looking forward 100.000000 meters along route # Maximum depth: 855.127137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.898848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.761368; longitude = -121.976187; captureRadius = 10; duration = 100; initialDepth = 798.224748; finalDepth = 802.898848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2282889999999 # Actual altitude: 52.2282889999999 # Commanded vehicle depth:802.898848 # Seafloor depth:-855.127137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.45; MB_Bottom_Detect_Filter_Max_Range = 208.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 335 # Segment length 100.063632 meters # Minimum depth: 848.224748 meters looking forward 100.000000 meters along route # Maximum depth: 852.740734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.224748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.761910; longitude = -121.975290; captureRadius = 10; duration = 100; initialDepth = 794.501635; finalDepth = 798.224748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.515986 # Actual altitude: 54.515986 # Commanded vehicle depth:798.224748 # Seafloor depth:-852.740734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.90; MB_Bottom_Detect_Filter_Max_Range = 218.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 335 # Segment length 100.063632 meters # Minimum depth: 844.501635 meters looking forward 100.000000 meters along route # Maximum depth: 848.223681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.501635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.762451; longitude = -121.974394; captureRadius = 10; duration = 100; initialDepth = 789.279505; finalDepth = 794.501635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.515986 # Actual altitude: 54.515986 # Commanded vehicle depth:794.501635 # Seafloor depth:-848.223681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.90; MB_Bottom_Detect_Filter_Max_Range = 218.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 335 # Segment length 100.063632 meters # Minimum depth: 839.279505 meters looking forward 100.000000 meters along route # Maximum depth: 844.500531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.279505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.762993; longitude = -121.973498; captureRadius = 10; duration = 100; initialDepth = 787.744069; finalDepth = 789.279505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.2210260000001 # Actual altitude: 55.2210260000001 # Commanded vehicle depth:789.279505 # Seafloor depth:-844.500531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.04; MB_Bottom_Detect_Filter_Max_Range = 220.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 335 # Segment length 100.063632 meters # Minimum depth: 837.744069 meters looking forward 100.000000 meters along route # Maximum depth: 839.258053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.744069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.763534; longitude = -121.972601; captureRadius = 10; duration = 100; initialDepth = 783.631218; finalDepth = 787.744069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.2210260000001 # Actual altitude: 55.2210260000001 # Commanded vehicle depth:787.744069 # Seafloor depth:-839.258053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.04; MB_Bottom_Detect_Filter_Max_Range = 220.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 335 # Segment length 100.063632 meters # Minimum depth: 833.631218 meters looking forward 100.000000 meters along route # Maximum depth: 837.732886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.631218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.764076; longitude = -121.971705; captureRadius = 10; duration = 100; initialDepth = 783.285523; finalDepth = 783.631218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.101668 # Actual altitude: 54.101668 # Commanded vehicle depth:783.631218 # Seafloor depth:-837.732886 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.82; MB_Bottom_Detect_Filter_Max_Range = 216.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 334 # Segment length 100.063632 meters # Minimum depth: 833.285523 meters looking forward 100.000000 meters along route # Maximum depth: 836.866903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.285523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.764629; longitude = -121.970790; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 778.382106; finalDepth = 783.285523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.101668 # Actual altitude: 54.101668 # Commanded vehicle depth:783.285523 # Seafloor depth:-833.528259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.82; MB_Bottom_Detect_Filter_Max_Range = 216.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 334 # Segment length 100.063632 meters # Minimum depth: 828.382106 meters looking forward 100.000000 meters along route # Maximum depth: 833.101841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.382106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.764840; longitude = -121.970590; captureRadius = 10; duration = 100; initialDepth = 775.204469; finalDepth = 778.382106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.719735 # Actual altitude: 54.719735 # Commanded vehicle depth:778.382106 # Seafloor depth:-833.101841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.94; MB_Bottom_Detect_Filter_Max_Range = 218.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 334 # Segment length 100.063632 meters # Minimum depth: 825.204469 meters looking forward 100.000000 meters along route # Maximum depth: 828.454860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 775.204469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.765561; longitude = -121.969907; captureRadius = 10; duration = 100; initialDepth = 772.252179; finalDepth = 775.204469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.719735 # Actual altitude: 54.719735 # Commanded vehicle depth:775.204469 # Seafloor depth:-828.364421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.94; MB_Bottom_Detect_Filter_Max_Range = 218.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 334 # Segment length 100.063632 meters # Minimum depth: 822.252179 meters looking forward 100.000000 meters along route # Maximum depth: 825.030046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.252179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.766282; longitude = -121.969224; captureRadius = 10; duration = 100; initialDepth = 770.262160; finalDepth = 772.252179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.159952 # Actual altitude: 53.159952 # Commanded vehicle depth:772.252179 # Seafloor depth:-825.030046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.63; MB_Bottom_Detect_Filter_Max_Range = 212.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 334 # Segment length 100.063632 meters # Minimum depth: 820.262160 meters looking forward 100.000000 meters along route # Maximum depth: 822.087492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.262160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.767003; longitude = -121.968541; captureRadius = 10; duration = 100; initialDepth = 768.353244; finalDepth = 770.262160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.777867 # Actual altitude: 52.777867 # Commanded vehicle depth:770.26216 # Seafloor depth:-822.087492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.56; MB_Bottom_Detect_Filter_Max_Range = 211.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 334 # Segment length 100.063632 meters # Minimum depth: 818.353244 meters looking forward 100.000000 meters along route # Maximum depth: 820.191529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 768.353244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.767724; longitude = -121.967858; captureRadius = 10; duration = 100; initialDepth = 766.183924; finalDepth = 768.353244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8382849999999 # Actual altitude: 51.8382849999999 # Commanded vehicle depth:768.353244 # Seafloor depth:-820.191529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.37; MB_Bottom_Detect_Filter_Max_Range = 207.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 334 # Segment length 100.063632 meters # Minimum depth: 816.183924 meters looking forward 100.000000 meters along route # Maximum depth: 818.832943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 766.183924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.768452; longitude = -121.967168; captureRadius = 10; duration = 100; initialDepth = 764.390316; finalDepth = 766.183924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.649019 # Actual altitude: 52.649019 # Commanded vehicle depth:766.183924 # Seafloor depth:-818.832943 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.53; MB_Bottom_Detect_Filter_Max_Range = 210.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 333 # Segment length 100.063632 meters # Minimum depth: 814.390316 meters looking forward 100.000000 meters along route # Maximum depth: 818.180393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 764.390316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.769181; longitude = -121.966477; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 762.552125; finalDepth = 764.390316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.649019 # Actual altitude: 52.649019 # Commanded vehicle depth:764.390316 # Seafloor depth:-815.914200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.53; MB_Bottom_Detect_Filter_Max_Range = 210.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 333 # Segment length 100.063632 meters # Minimum depth: 812.552125 meters looking forward 100.000000 meters along route # Maximum depth: 814.086738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.552125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.769436; longitude = -121.966228; captureRadius = 10; duration = 100; initialDepth = 761.017691; finalDepth = 762.552125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5238840000001 # Actual altitude: 51.5238840000001 # Commanded vehicle depth:762.552125 # Seafloor depth:-814.008170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.30; MB_Bottom_Detect_Filter_Max_Range = 206.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 333 # Segment length 100.063632 meters # Minimum depth: 811.017691 meters looking forward 100.000000 meters along route # Maximum depth: 812.667159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.017691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.770157; longitude = -121.965523; captureRadius = 10; duration = 100; initialDepth = 758.422394; finalDepth = 761.017691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.472525 # Actual altitude: 51.472525 # Commanded vehicle depth:761.017691 # Seafloor depth:-812.490216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.29; MB_Bottom_Detect_Filter_Max_Range = 205.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 333 # Segment length 100.063632 meters # Minimum depth: 808.422394 meters looking forward 100.000000 meters along route # Maximum depth: 810.992887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.422394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.770882; longitude = -121.964815; captureRadius = 10; duration = 100; initialDepth = 756.324211; finalDepth = 758.422394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5704929999999 # Actual altitude: 52.5704929999999 # Commanded vehicle depth:758.422394 # Seafloor depth:-810.992887 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.51; MB_Bottom_Detect_Filter_Max_Range = 210.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 332 # Segment length 100.063632 meters # Minimum depth: 806.324211 meters looking forward 100.000000 meters along route # Maximum depth: 809.552867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.324211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.771593; longitude = -121.964120; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 751.304522; finalDepth = 756.324211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5704929999999 # Actual altitude: 52.5704929999999 # Commanded vehicle depth:756.324211 # Seafloor depth:-808.361328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.51; MB_Bottom_Detect_Filter_Max_Range = 210.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 332 # Segment length 100.063632 meters # Minimum depth: 801.304522 meters looking forward 100.000000 meters along route # Maximum depth: 806.284609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.304522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.771969; longitude = -121.963807; captureRadius = 10; duration = 100; initialDepth = 747.323960; finalDepth = 751.304522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.980087 # Actual altitude: 54.980087 # Commanded vehicle depth:751.304522 # Seafloor depth:-806.284609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.00; MB_Bottom_Detect_Filter_Max_Range = 219.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 332 # Segment length 100.063632 meters # Minimum depth: 797.323960 meters looking forward 100.000000 meters along route # Maximum depth: 801.141678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.323960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.772725; longitude = -121.963176; captureRadius = 10; duration = 100; initialDepth = 743.766347; finalDepth = 747.323960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.980087 # Actual altitude: 54.980087 # Commanded vehicle depth:747.32396 # Seafloor depth:-801.141678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.00; MB_Bottom_Detect_Filter_Max_Range = 219.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 332 # Segment length 100.063632 meters # Minimum depth: 793.766347 meters looking forward 100.000000 meters along route # Maximum depth: 796.772859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.766347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.773515; longitude = -121.962518; captureRadius = 10; duration = 100; initialDepth = 743.727727; finalDepth = 743.766347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8177179999999 # Actual altitude: 53.8177179999999 # Commanded vehicle depth:743.766347 # Seafloor depth:-796.772859 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.76; MB_Bottom_Detect_Filter_Max_Range = 215.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 331 # Segment length 100.063632 meters # Minimum depth: 793.727727 meters looking forward 100.000000 meters along route # Maximum depth: 794.492997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.727727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774264; longitude = -121.961894; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 741.745174; finalDepth = 743.727727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.006512 # Actual altitude: 53.006512 # Commanded vehicle depth:743.727727 # Seafloor depth:-794.117447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.60; MB_Bottom_Detect_Filter_Max_Range = 212.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 331 # Segment length 100.063632 meters # Minimum depth: 791.745174 meters looking forward 100.000000 meters along route # Maximum depth: 793.656602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.745174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774641; longitude = -121.961566; captureRadius = 10; duration = 100; initialDepth = 739.758672; finalDepth = 741.745174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.911428 # Actual altitude: 51.911428 # Commanded vehicle depth:741.745174 # Seafloor depth:-793.656602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.38; MB_Bottom_Detect_Filter_Max_Range = 207.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 331 # Segment length 100.063632 meters # Minimum depth: 789.758672 meters looking forward 100.000000 meters along route # Maximum depth: 791.551755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.758672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775384; longitude = -121.960920; captureRadius = 10; duration = 100; initialDepth = 738.313134; finalDepth = 739.758672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.911428 # Actual altitude: 51.911428 # Commanded vehicle depth:739.758672 # Seafloor depth:-791.551755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.38; MB_Bottom_Detect_Filter_Max_Range = 207.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 331 # Segment length 100.063632 meters # Minimum depth: 788.313134 meters looking forward 100.000000 meters along route # Maximum depth: 789.800965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.313134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776150; longitude = -121.960254; captureRadius = 10; duration = 100; initialDepth = 736.088534; finalDepth = 738.313134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7930829999999 # Actual altitude: 51.7930829999999 # Commanded vehicle depth:738.313134 # Seafloor depth:-789.772957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.36; MB_Bottom_Detect_Filter_Max_Range = 207.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 331 # Segment length 100.063632 meters # Minimum depth: 786.088534 meters looking forward 100.000000 meters along route # Maximum depth: 788.273103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.088534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776916; longitude = -121.959588; captureRadius = 10; duration = 100; initialDepth = 733.658058; finalDepth = 736.088534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.184569 # Actual altitude: 52.184569 # Commanded vehicle depth:736.088534 # Seafloor depth:-788.273103 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.44; MB_Bottom_Detect_Filter_Max_Range = 208.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 330 # Segment length 100.063632 meters # Minimum depth: 783.658058 meters looking forward 100.000000 meters along route # Maximum depth: 786.275607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.658058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777677; longitude = -121.958926; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 732.085542; finalDepth = 733.658058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.538765 # Actual altitude: 52.538765 # Commanded vehicle depth:733.658058 # Seafloor depth:-786.196823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.51; MB_Bottom_Detect_Filter_Max_Range = 210.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 330 # Segment length 100.063632 meters # Minimum depth: 782.085542 meters looking forward 100.000000 meters along route # Maximum depth: 783.600884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.085542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778268; longitude = -121.958168; captureRadius = 10; duration = 100; initialDepth = 725.038741; finalDepth = 732.085542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.538765 # Actual altitude: 52.538765 # Commanded vehicle depth:732.085542 # Seafloor depth:-783.600884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.51; MB_Bottom_Detect_Filter_Max_Range = 210.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 330 # Segment length 100.063632 meters # Minimum depth: 775.038741 meters looking forward 100.000000 meters along route # Maximum depth: 782.034193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.038741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778899; longitude = -121.957359; captureRadius = 10; duration = 100; initialDepth = 714.398214; finalDepth = 725.038741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.995452 # Actual altitude: 56.995452 # Commanded vehicle depth:725.038741 # Seafloor depth:-782.034193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.40; MB_Bottom_Detect_Filter_Max_Range = 227.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 330 # Segment length 100.063632 meters # Minimum depth: 764.398214 meters looking forward 100.000000 meters along route # Maximum depth: 774.693350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.398214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779530; longitude = -121.956550; captureRadius = 10; duration = 100; initialDepth = 712.553953; finalDepth = 714.398214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.295136 # Actual altitude: 60.295136 # Commanded vehicle depth:714.398214 # Seafloor depth:-774.693350 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.06; MB_Bottom_Detect_Filter_Max_Range = 241.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 329 # Segment length 100.063632 meters # Minimum depth: 762.553953 meters looking forward 100.000000 meters along route # Maximum depth: 765.415177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.553953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780176; longitude = -121.955721; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 711.133671; finalDepth = 712.553953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.295136 # Actual altitude: 60.295136 # Commanded vehicle depth:712.553953 # Seafloor depth:-764.289612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.06; MB_Bottom_Detect_Filter_Max_Range = 241.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 329 # Segment length 100.063632 meters # Minimum depth: 761.133671 meters looking forward 100.000000 meters along route # Maximum depth: 763.695881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.133671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780573; longitude = -121.954956; captureRadius = 10; duration = 100; initialDepth = 710.079947; finalDepth = 711.133671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7356590000001 # Actual altitude: 51.7356590000001 # Commanded vehicle depth:711.133671 # Seafloor depth:-762.551658 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.35; MB_Bottom_Detect_Filter_Max_Range = 206.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 328 # Segment length 100.063632 meters # Minimum depth: 760.079947 meters looking forward 100.000000 meters along route # Maximum depth: 762.108396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.079947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781077; longitude = -121.953985; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 707.438389; finalDepth = 710.079947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4179869999999 # Actual altitude: 51.4179869999999 # Commanded vehicle depth:710.079947 # Seafloor depth:-761.094223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.28; MB_Bottom_Detect_Filter_Max_Range = 205.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 328 # Segment length 100.063632 meters # Minimum depth: 757.438389 meters looking forward 100.000000 meters along route # Maximum depth: 759.854920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.438389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781088; longitude = -121.953331; captureRadius = 10; duration = 100; initialDepth = 705.932287; finalDepth = 707.438389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.416531 # Actual altitude: 52.416531 # Commanded vehicle depth:707.438389 # Seafloor depth:-759.854920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.48; MB_Bottom_Detect_Filter_Max_Range = 209.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 328 # Segment length 100.063632 meters # Minimum depth: 755.932287 meters looking forward 100.000000 meters along route # Maximum depth: 757.453520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.932287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781108; longitude = -121.952211; captureRadius = 10; duration = 100; initialDepth = 703.248613; finalDepth = 705.932287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.416531 # Actual altitude: 52.416531 # Commanded vehicle depth:705.932287 # Seafloor depth:-757.453520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.48; MB_Bottom_Detect_Filter_Max_Range = 209.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 328 # Segment length 100.063632 meters # Minimum depth: 753.248613 meters looking forward 100.000000 meters along route # Maximum depth: 755.637121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.248613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781128; longitude = -121.951090; captureRadius = 10; duration = 100; initialDepth = 700.170460; finalDepth = 703.248613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.388508 # Actual altitude: 52.388508 # Commanded vehicle depth:703.248613 # Seafloor depth:-755.637121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.48; MB_Bottom_Detect_Filter_Max_Range = 209.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 328 # Segment length 100.063632 meters # Minimum depth: 750.170460 meters looking forward 100.000000 meters along route # Maximum depth: 753.052086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.170460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781147; longitude = -121.949970; captureRadius = 10; duration = 100; initialDepth = 699.895584; finalDepth = 700.170460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.881626 # Actual altitude: 52.881626 # Commanded vehicle depth:700.17046 # Seafloor depth:-753.052086 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.58; MB_Bottom_Detect_Filter_Max_Range = 211.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 327 # Segment length 100.063632 meters # Minimum depth: 749.895584 meters looking forward 100.000000 meters along route # Maximum depth: 752.474871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.895584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781167; longitude = -121.948831; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 696.940586; finalDepth = 699.895584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.881626 # Actual altitude: 52.881626 # Commanded vehicle depth:699.895584 # Seafloor depth:-750.049835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.58; MB_Bottom_Detect_Filter_Max_Range = 211.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 327 # Segment length 100.063632 meters # Minimum depth: 746.940586 meters looking forward 100.000000 meters along route # Maximum depth: 749.619353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.940586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781168; longitude = -121.948737; captureRadius = 10; duration = 100; initialDepth = 693.088811; finalDepth = 696.940586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.678767 # Actual altitude: 52.678767 # Commanded vehicle depth:696.940586 # Seafloor depth:-749.619353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.54; MB_Bottom_Detect_Filter_Max_Range = 210.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 327 # Segment length 100.063632 meters # Minimum depth: 743.088811 meters looking forward 100.000000 meters along route # Maximum depth: 746.777001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.088811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781183; longitude = -121.947561; captureRadius = 10; duration = 100; initialDepth = 689.176388; finalDepth = 693.088811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6881900000001 # Actual altitude: 53.6881900000001 # Commanded vehicle depth:693.088811 # Seafloor depth:-746.777001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.74; MB_Bottom_Detect_Filter_Max_Range = 214.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 327 # Segment length 100.063632 meters # Minimum depth: 739.176388 meters looking forward 100.000000 meters along route # Maximum depth: 743.087265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.176388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781198; longitude = -121.946385; captureRadius = 10; duration = 100; initialDepth = 685.502712; finalDepth = 689.176388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8178 # Actual altitude: 53.8178 # Commanded vehicle depth:689.176388 # Seafloor depth:-742.994188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.76; MB_Bottom_Detect_Filter_Max_Range = 215.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 327 # Segment length 100.063632 meters # Minimum depth: 735.502712 meters looking forward 100.000000 meters along route # Maximum depth: 738.988321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.502712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781212; longitude = -121.945208; captureRadius = 10; duration = 100; initialDepth = 683.394059; finalDepth = 685.502712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8178 # Actual altitude: 53.8178 # Commanded vehicle depth:685.502712 # Seafloor depth:-738.974818 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.76; MB_Bottom_Detect_Filter_Max_Range = 215.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 326 # Segment length 100.063632 meters # Minimum depth: 733.394059 meters looking forward 100.000000 meters along route # Maximum depth: 736.006736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.394059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781227; longitude = -121.944051; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 680.469903; finalDepth = 683.394059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4721060000001 # Actual altitude: 53.4721060000001 # Commanded vehicle depth:683.394059 # Seafloor depth:-735.384186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.69; MB_Bottom_Detect_Filter_Max_Range = 213.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 326 # Segment length 100.063632 meters # Minimum depth: 730.469903 meters looking forward 100.000000 meters along route # Maximum depth: 733.325922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.469903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781301; longitude = -121.943136; captureRadius = 10; duration = 100; initialDepth = 678.220768; finalDepth = 680.469903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8560189999999 # Actual altitude: 52.8560189999999 # Commanded vehicle depth:680.469903 # Seafloor depth:-733.325922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.57; MB_Bottom_Detect_Filter_Max_Range = 211.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 326 # Segment length 100.063632 meters # Minimum depth: 728.220768 meters looking forward 100.000000 meters along route # Maximum depth: 730.447851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.220768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781391; longitude = -121.942015; captureRadius = 10; duration = 100; initialDepth = 672.870689; finalDepth = 678.220768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8560189999999 # Actual altitude: 52.8560189999999 # Commanded vehicle depth:678.220768 # Seafloor depth:-730.447851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.57; MB_Bottom_Detect_Filter_Max_Range = 211.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 326 # Segment length 100.063632 meters # Minimum depth: 722.870689 meters looking forward 100.000000 meters along route # Maximum depth: 727.975462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.870689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781481; longitude = -121.940895; captureRadius = 10; duration = 100; initialDepth = 672.305696; finalDepth = 672.870689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.104773 # Actual altitude: 55.104773 # Commanded vehicle depth:672.870689 # Seafloor depth:-727.975462 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.02; MB_Bottom_Detect_Filter_Max_Range = 220.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 325 # Segment length 100.063632 meters # Minimum depth: 722.305696 meters looking forward 100.000000 meters along route # Maximum depth: 727.250885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.305696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781573; longitude = -121.939756; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 655.705537; finalDepth = 672.305696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.104773 # Actual altitude: 55.104773 # Commanded vehicle depth:672.305696 # Seafloor depth:-722.557205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.02; MB_Bottom_Detect_Filter_Max_Range = 220.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 325 # Segment length 100.063632 meters # Minimum depth: 705.705537 meters looking forward 100.000000 meters along route # Maximum depth: 721.839883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.705537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781593; longitude = -121.939662; captureRadius = 10; duration = 100; initialDepth = 649.312758; finalDepth = 655.705537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1343459999999 # Actual altitude: 66.1343459999999 # Commanded vehicle depth:655.705537 # Seafloor depth:-721.839883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.23; MB_Bottom_Detect_Filter_Max_Range = 264.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 325 # Segment length 100.063632 meters # Minimum depth: 699.312758 meters looking forward 100.000000 meters along route # Maximum depth: 705.669949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.312758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781829; longitude = -121.938542; captureRadius = 10; duration = 100; initialDepth = 644.551791; finalDepth = 649.312758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1343459999999 # Actual altitude: 66.1343459999999 # Commanded vehicle depth:649.312758 # Seafloor depth:-705.669949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.23; MB_Bottom_Detect_Filter_Max_Range = 264.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 325 # Segment length 100.063632 meters # Minimum depth: 694.551791 meters looking forward 100.000000 meters along route # Maximum depth: 699.099118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.551791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782065; longitude = -121.937422; captureRadius = 10; duration = 100; initialDepth = 644.277754; finalDepth = 644.551791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3571909999999 # Actual altitude: 56.3571909999999 # Commanded vehicle depth:644.551791 # Seafloor depth:-699.099118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.27; MB_Bottom_Detect_Filter_Max_Range = 225.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 325 # Segment length 100.063632 meters # Minimum depth: 694.277754 meters looking forward 100.000000 meters along route # Maximum depth: 695.973076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.277754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782302; longitude = -121.936301; captureRadius = 10; duration = 100; initialDepth = 644.151445; finalDepth = 644.277754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.547327 # Actual altitude: 54.547327 # Commanded vehicle depth:644.277754 # Seafloor depth:-694.342404 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.91; MB_Bottom_Detect_Filter_Max_Range = 218.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 324 # Segment length 100.063632 meters # Minimum depth: 694.151445 meters looking forward 100.000000 meters along route # Maximum depth: 695.451889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.151445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782534; longitude = -121.935200; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 643.655093; finalDepth = 644.151445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3004440000001 # Actual altitude: 51.3004440000001 # Commanded vehicle depth:644.151445 # Seafloor depth:-695.451889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.26; MB_Bottom_Detect_Filter_Max_Range = 205.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 324 # Segment length 100.063632 meters # Minimum depth: 693.655093 meters looking forward 100.000000 meters along route # Maximum depth: 695.306242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.655093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782878; longitude = -121.934453; captureRadius = 10; duration = 100; initialDepth = 643.581464; finalDepth = 643.655093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.651149 # Actual altitude: 51.651149 # Commanded vehicle depth:643.655093 # Seafloor depth:-695.306242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.33; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 324 # Segment length 100.063632 meters # Minimum depth: 693.581464 meters looking forward 100.000000 meters along route # Maximum depth: 695.307229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.581464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783341; longitude = -121.933444; captureRadius = 10; duration = 100; initialDepth = 643.169623; finalDepth = 643.581464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.651149 # Actual altitude: 51.651149 # Commanded vehicle depth:643.581464 # Seafloor depth:-694.496345 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.33; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 323 # Segment length 100.063632 meters # Minimum depth: 693.169623 meters looking forward 100.000000 meters along route # Maximum depth: 694.056768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.169623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783796; longitude = -121.932455; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 640.847166; finalDepth = 643.169623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.914881 # Actual altitude: 50.914881 # Commanded vehicle depth:643.169623 # Seafloor depth:-693.670349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.18; MB_Bottom_Detect_Filter_Max_Range = 203.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 323 # Segment length 100.063632 meters # Minimum depth: 690.847166 meters looking forward 100.000000 meters along route # Maximum depth: 692.974986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.847166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784287; longitude = -121.931652; captureRadius = 10; duration = 100; initialDepth = 640.269077; finalDepth = 640.847166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1278199999999 # Actual altitude: 52.1278199999999 # Commanded vehicle depth:640.847166 # Seafloor depth:-692.974986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.43; MB_Bottom_Detect_Filter_Max_Range = 208.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 323 # Segment length 100.063632 meters # Minimum depth: 690.269077 meters looking forward 100.000000 meters along route # Maximum depth: 691.106462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.269077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784847; longitude = -121.930736; captureRadius = 10; duration = 100; initialDepth = 638.629139; finalDepth = 640.269077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1278199999999 # Actual altitude: 52.1278199999999 # Commanded vehicle depth:640.269077 # Seafloor depth:-690.862823 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.43; MB_Bottom_Detect_Filter_Max_Range = 208.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 322 # Segment length 100.063632 meters # Minimum depth: 688.629139 meters looking forward 100.000000 meters along route # Maximum depth: 690.767984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.629139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785394; longitude = -121.929841; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 634.238746; finalDepth = 638.629139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.704739 # Actual altitude: 51.704739 # Commanded vehicle depth:638.629139 # Seafloor depth:-690.333878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.34; MB_Bottom_Detect_Filter_Max_Range = 206.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 322 # Segment length 100.063632 meters # Minimum depth: 684.238746 meters looking forward 100.000000 meters along route # Maximum depth: 688.628194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.238746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785777; longitude = -121.929075; captureRadius = 10; duration = 100; initialDepth = 630.008292; finalDepth = 634.238746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3845250000001 # Actual altitude: 54.3845250000001 # Commanded vehicle depth:634.238746 # Seafloor depth:-688.623271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.88; MB_Bottom_Detect_Filter_Max_Range = 217.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 322 # Segment length 100.063632 meters # Minimum depth: 680.008292 meters looking forward 100.000000 meters along route # Maximum depth: 684.177532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.008292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786253; longitude = -121.928123; captureRadius = 10; duration = 100; initialDepth = 627.559147; finalDepth = 630.008292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3845250000001 # Actual altitude: 54.3845250000001 # Commanded vehicle depth:630.008292 # Seafloor depth:-684.177532 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.88; MB_Bottom_Detect_Filter_Max_Range = 217.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 321 # Segment length 100.063632 meters # Minimum depth: 677.559147 meters looking forward 100.000000 meters along route # Maximum depth: 681.332682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.559147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786729; longitude = -121.927170; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 621.344326; finalDepth = 627.559147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1692400000001 # Actual altitude: 54.1692400000001 # Commanded vehicle depth:627.559147 # Seafloor depth:-679.851303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.83; MB_Bottom_Detect_Filter_Max_Range = 216.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 321 # Segment length 100.063632 meters # Minimum depth: 671.344326 meters looking forward 100.000000 meters along route # Maximum depth: 677.529101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.344326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786559; longitude = -121.926491; captureRadius = 10; duration = 100; initialDepth = 620.429219; finalDepth = 621.344326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.1847749999999 # Actual altitude: 56.1847749999999 # Commanded vehicle depth:621.344326 # Seafloor depth:-677.529101 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.24; MB_Bottom_Detect_Filter_Max_Range = 224.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 320 # Segment length 100.063632 meters # Minimum depth: 670.429219 meters looking forward 100.000000 meters along route # Maximum depth: 676.590484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.429219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786284; longitude = -121.925389; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 616.612989; finalDepth = 620.429219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.1847749999999 # Actual altitude: 56.1847749999999 # Commanded vehicle depth:620.429219 # Seafloor depth:-671.436646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.24; MB_Bottom_Detect_Filter_Max_Range = 224.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 320 # Segment length 100.063632 meters # Minimum depth: 666.612989 meters looking forward 100.000000 meters along route # Maximum depth: 670.580466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.612989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786109; longitude = -121.925207; captureRadius = 10; duration = 100; initialDepth = 612.456438; finalDepth = 616.612989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8214290000001 # Actual altitude: 53.8214290000001 # Commanded vehicle depth:616.612989 # Seafloor depth:-670.434418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.76; MB_Bottom_Detect_Filter_Max_Range = 215.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 320 # Segment length 100.063632 meters # Minimum depth: 662.456438 meters looking forward 100.000000 meters along route # Maximum depth: 666.453138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.456438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785411; longitude = -121.924481; captureRadius = 10; duration = 100; initialDepth = 609.954723; finalDepth = 612.456438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9966999999999 # Actual altitude: 53.9966999999999 # Commanded vehicle depth:612.456438 # Seafloor depth:-666.453138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.80; MB_Bottom_Detect_Filter_Max_Range = 215.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 320 # Segment length 100.063632 meters # Minimum depth: 659.954723 meters looking forward 100.000000 meters along route # Maximum depth: 662.449565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.954723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784711; longitude = -121.923753; captureRadius = 10; duration = 100; initialDepth = 607.692718; finalDepth = 609.954723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9966999999999 # Actual altitude: 53.9966999999999 # Commanded vehicle depth:609.954723 # Seafloor depth:-662.449565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.80; MB_Bottom_Detect_Filter_Max_Range = 215.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 320 # Segment length 100.063632 meters # Minimum depth: 657.692718 meters looking forward 100.000000 meters along route # Maximum depth: 659.801497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.692718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783991; longitude = -121.923004; captureRadius = 10; duration = 100; initialDepth = 604.760154; finalDepth = 607.692718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4948420000001 # Actual altitude: 52.4948420000001 # Commanded vehicle depth:607.692718 # Seafloor depth:-659.801497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.50; MB_Bottom_Detect_Filter_Max_Range = 209.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 320 # Segment length 100.063632 meters # Minimum depth: 654.760154 meters looking forward 100.000000 meters along route # Maximum depth: 657.912158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.760154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783270; longitude = -121.922255; captureRadius = 10; duration = 100; initialDepth = 604.355028; finalDepth = 604.760154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1291239999999 # Actual altitude: 53.1291239999999 # Commanded vehicle depth:604.760154 # Seafloor depth:-657.889278 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.63; MB_Bottom_Detect_Filter_Max_Range = 212.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 319 # Segment length 100.063632 meters # Minimum depth: 654.355028 meters looking forward 100.000000 meters along route # Maximum depth: 656.977207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.355028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782574; longitude = -121.921531; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 601.011224; finalDepth = 604.355028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1291239999999 # Actual altitude: 53.1291239999999 # Commanded vehicle depth:604.355028 # Seafloor depth:-654.935715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.63; MB_Bottom_Detect_Filter_Max_Range = 212.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 319 # Segment length 100.063632 meters # Minimum depth: 651.011224 meters looking forward 100.000000 meters along route # Maximum depth: 653.993122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.011224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782421; longitude = -121.921344; captureRadius = 10; duration = 100; initialDepth = 599.320948; finalDepth = 601.011224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.981898 # Actual altitude: 52.981898 # Commanded vehicle depth:601.011224 # Seafloor depth:-653.993122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.60; MB_Bottom_Detect_Filter_Max_Range = 211.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 319 # Segment length 100.063632 meters # Minimum depth: 649.320948 meters looking forward 100.000000 meters along route # Maximum depth: 651.159014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.320948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781777; longitude = -121.920560; captureRadius = 10; duration = 100; initialDepth = 594.280106; finalDepth = 599.320948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.981898 # Actual altitude: 52.981898 # Commanded vehicle depth:599.320948 # Seafloor depth:-650.971258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.60; MB_Bottom_Detect_Filter_Max_Range = 211.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 319 # Segment length 100.063632 meters # Minimum depth: 644.280106 meters looking forward 100.000000 meters along route # Maximum depth: 649.181052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.280106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781132; longitude = -121.919776; captureRadius = 10; duration = 100; initialDepth = 590.662039; finalDepth = 594.280106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.900946 # Actual altitude: 54.900946 # Commanded vehicle depth:594.280106 # Seafloor depth:-649.181052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.98; MB_Bottom_Detect_Filter_Max_Range = 219.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 319 # Segment length 100.063632 meters # Minimum depth: 640.662039 meters looking forward 100.000000 meters along route # Maximum depth: 644.008633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.662039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780488; longitude = -121.918992; captureRadius = 10; duration = 100; initialDepth = 586.840243; finalDepth = 590.662039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.900946 # Actual altitude: 54.900946 # Commanded vehicle depth:590.662039 # Seafloor depth:-644.008633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.98; MB_Bottom_Detect_Filter_Max_Range = 219.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 319 # Segment length 100.063632 meters # Minimum depth: 636.840243 meters looking forward 100.000000 meters along route # Maximum depth: 640.656344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.840243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779844; longitude = -121.918207; captureRadius = 10; duration = 100; initialDepth = 584.713102; finalDepth = 586.840243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.816101 # Actual altitude: 53.816101 # Commanded vehicle depth:586.840243 # Seafloor depth:-640.656344 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.76; MB_Bottom_Detect_Filter_Max_Range = 215.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 318 # Segment length 100.063632 meters # Minimum depth: 634.713102 meters looking forward 100.000000 meters along route # Maximum depth: 638.662167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.713102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779161; longitude = -121.917376; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 581.314463; finalDepth = 584.713102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.816101 # Actual altitude: 53.816101 # Commanded vehicle depth:584.713102 # Seafloor depth:-636.869324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.76; MB_Bottom_Detect_Filter_Max_Range = 215.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 318 # Segment length 100.063632 meters # Minimum depth: 631.314463 meters looking forward 100.000000 meters along route # Maximum depth: 635.052342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.314463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778709; longitude = -121.916695; captureRadius = 10; duration = 100; initialDepth = 578.230714; finalDepth = 581.314463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7378789999999 # Actual altitude: 53.7378789999999 # Commanded vehicle depth:581.314463 # Seafloor depth:-635.052342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.75; MB_Bottom_Detect_Filter_Max_Range = 214.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 318 # Segment length 100.063632 meters # Minimum depth: 628.230714 meters looking forward 100.000000 meters along route # Maximum depth: 631.429490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.230714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778114; longitude = -121.915799; captureRadius = 10; duration = 100; initialDepth = 575.291599; finalDepth = 578.230714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7378789999999 # Actual altitude: 53.7378789999999 # Commanded vehicle depth:578.230714 # Seafloor depth:-631.388692 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.75; MB_Bottom_Detect_Filter_Max_Range = 214.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 317 # Segment length 100.063632 meters # Minimum depth: 625.291599 meters looking forward 100.000000 meters along route # Maximum depth: 629.183955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.291599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777532; longitude = -121.914921; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 571.657758; finalDepth = 575.291599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.157978 # Actual altitude: 53.157978 # Commanded vehicle depth:575.291599 # Seafloor depth:-628.314041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.63; MB_Bottom_Detect_Filter_Max_Range = 212.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 317 # Segment length 100.063632 meters # Minimum depth: 621.657758 meters looking forward 100.000000 meters along route # Maximum depth: 625.185935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.657758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777232; longitude = -121.914301; captureRadius = 10; duration = 100; initialDepth = 569.151821; finalDepth = 571.657758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.528177 # Actual altitude: 53.528177 # Commanded vehicle depth:571.657758 # Seafloor depth:-625.185935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.71; MB_Bottom_Detect_Filter_Max_Range = 214.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 317 # Segment length 100.063632 meters # Minimum depth: 619.151821 meters looking forward 100.000000 meters along route # Maximum depth: 621.848831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.151821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776764; longitude = -121.913334; captureRadius = 10; duration = 100; initialDepth = 565.038259; finalDepth = 569.151821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.528177 # Actual altitude: 53.528177 # Commanded vehicle depth:569.151821 # Seafloor depth:-621.613076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.71; MB_Bottom_Detect_Filter_Max_Range = 214.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 317 # Segment length 100.063632 meters # Minimum depth: 615.038259 meters looking forward 100.000000 meters along route # Maximum depth: 619.061348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.038259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776275; longitude = -121.912325; captureRadius = 10; duration = 100; initialDepth = 563.171914; finalDepth = 565.038259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0230889999999 # Actual altitude: 54.0230889999999 # Commanded vehicle depth:565.038259 # Seafloor depth:-619.061348 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.80; MB_Bottom_Detect_Filter_Max_Range = 216.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 316 # Segment length 100.063632 meters # Minimum depth: 613.171914 meters looking forward 100.000000 meters along route # Maximum depth: 616.890380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.171914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775805; longitude = -121.911354; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 559.445670; finalDepth = 563.171914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0230889999999 # Actual altitude: 54.0230889999999 # Commanded vehicle depth:563.171914 # Seafloor depth:-615.055313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.80; MB_Bottom_Detect_Filter_Max_Range = 216.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 316 # Segment length 100.063632 meters # Minimum depth: 609.445670 meters looking forward 100.000000 meters along route # Maximum depth: 612.777303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.445670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775574; longitude = -121.910869; captureRadius = 10; duration = 100; initialDepth = 557.195369; finalDepth = 559.445670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.331633 # Actual altitude: 53.331633 # Commanded vehicle depth:559.44567 # Seafloor depth:-612.777303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.67; MB_Bottom_Detect_Filter_Max_Range = 213.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 316 # Segment length 100.063632 meters # Minimum depth: 607.195369 meters looking forward 100.000000 meters along route # Maximum depth: 609.415797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.195369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775114; longitude = -121.909904; captureRadius = 10; duration = 100; initialDepth = 557.099256; finalDepth = 557.195369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.331633 # Actual altitude: 53.331633 # Commanded vehicle depth:557.195369 # Seafloor depth:-609.415797 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.67; MB_Bottom_Detect_Filter_Max_Range = 213.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 315 # Segment length 100.063632 meters # Minimum depth: 607.099256 meters looking forward 100.000000 meters along route # Maximum depth: 608.143890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.099256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774648; longitude = -121.908927; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 555.527118; finalDepth = 557.099256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.220428 # Actual altitude: 52.220428 # Commanded vehicle depth:557.099256 # Seafloor depth:-607.126480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.44; MB_Bottom_Detect_Filter_Max_Range = 208.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 315 # Segment length 100.063632 meters # Minimum depth: 605.527118 meters looking forward 100.000000 meters along route # Maximum depth: 607.099190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.527118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774571; longitude = -121.908460; captureRadius = 10; duration = 100; initialDepth = 553.963007; finalDepth = 555.527118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.572072 # Actual altitude: 51.572072 # Commanded vehicle depth:555.527118 # Seafloor depth:-607.099190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.31; MB_Bottom_Detect_Filter_Max_Range = 206.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 315 # Segment length 100.063632 meters # Minimum depth: 603.963007 meters looking forward 100.000000 meters along route # Maximum depth: 605.702694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.963007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774387; longitude = -121.907340; captureRadius = 10; duration = 100; initialDepth = 551.840118; finalDepth = 553.963007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.572072 # Actual altitude: 51.572072 # Commanded vehicle depth:553.963007 # Seafloor depth:-605.454518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.31; MB_Bottom_Detect_Filter_Max_Range = 206.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 315 # Segment length 100.063632 meters # Minimum depth: 601.840118 meters looking forward 100.000000 meters along route # Maximum depth: 604.080141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.840118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774203; longitude = -121.906219; captureRadius = 10; duration = 100; initialDepth = 547.885613; finalDepth = 551.840118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.17831 # Actual altitude: 52.17831 # Commanded vehicle depth:551.840118 # Seafloor depth:-604.018428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.44; MB_Bottom_Detect_Filter_Max_Range = 208.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 315 # Segment length 100.063632 meters # Minimum depth: 597.885613 meters looking forward 100.000000 meters along route # Maximum depth: 601.729483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.885613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774018; longitude = -121.905099; captureRadius = 10; duration = 100; initialDepth = 544.963622; finalDepth = 547.885613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8438699999999 # Actual altitude: 53.8438699999999 # Commanded vehicle depth:547.885613 # Seafloor depth:-601.729483 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.77; MB_Bottom_Detect_Filter_Max_Range = 215.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 314 # Segment length 100.063632 meters # Minimum depth: 594.963622 meters looking forward 100.000000 meters along route # Maximum depth: 599.244122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.963622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.773837; longitude = -121.903997; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 540.300954; finalDepth = 544.963622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8438699999999 # Actual altitude: 53.8438699999999 # Commanded vehicle depth:544.963622 # Seafloor depth:-597.857117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.77; MB_Bottom_Detect_Filter_Max_Range = 215.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 314 # Segment length 100.063632 meters # Minimum depth: 590.300954 meters looking forward 100.000000 meters along route # Maximum depth: 594.562125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.300954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.773833; longitude = -121.903250; captureRadius = 10; duration = 100; initialDepth = 538.911927; finalDepth = 540.300954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.261171 # Actual altitude: 54.261171 # Commanded vehicle depth:540.300954 # Seafloor depth:-594.562125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.85; MB_Bottom_Detect_Filter_Max_Range = 217.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 314 # Segment length 100.063632 meters # Minimum depth: 588.911927 meters looking forward 100.000000 meters along route # Maximum depth: 590.177070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.911927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.773826; longitude = -121.902074; captureRadius = 10; duration = 100; initialDepth = 538.757182; finalDepth = 538.911927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.261171 # Actual altitude: 54.261171 # Commanded vehicle depth:538.911927 # Seafloor depth:-590.177070 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.85; MB_Bottom_Detect_Filter_Max_Range = 217.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 313 # Segment length 100.063632 meters # Minimum depth: 588.757182 meters looking forward 100.000000 meters along route # Maximum depth: 589.828338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.757182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.773819; longitude = -121.900904; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 534.193613; finalDepth = 538.757182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.265143 # Actual altitude: 51.265143 # Commanded vehicle depth:538.757182 # Seafloor depth:-588.957184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.25; MB_Bottom_Detect_Filter_Max_Range = 205.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 313 # Segment length 100.063632 meters # Minimum depth: 584.193613 meters looking forward 100.000000 meters along route # Maximum depth: 588.565055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.193613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.773864; longitude = -121.900842; captureRadius = 10; duration = 100; initialDepth = 522.117551; finalDepth = 534.193613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.371442 # Actual altitude: 54.371442 # Commanded vehicle depth:534.193613 # Seafloor depth:-588.565055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.87; MB_Bottom_Detect_Filter_Max_Range = 217.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 313 # Segment length 100.063632 meters # Minimum depth: 572.117551 meters looking forward 100.000000 meters along route # Maximum depth: 584.127336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.117551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774483; longitude = -121.899981; captureRadius = 10; duration = 100; initialDepth = 522.117551; finalDepth = 522.117551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.009785 # Actual altitude: 62.009785 # Commanded vehicle depth:522.117551 # Seafloor depth:-584.127336 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.40; MB_Bottom_Detect_Filter_Max_Range = 248.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 312 # Segment length 100.063632 meters # Minimum depth: 572.117551 meters looking forward 100.000000 meters along route # Maximum depth: 580.881615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.117551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775099; longitude = -121.899124; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 520.444175; finalDepth = 522.117551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.009785 # Actual altitude: 62.009785 # Commanded vehicle depth:522.117551 # Seafloor depth:-578.929199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.40; MB_Bottom_Detect_Filter_Max_Range = 248.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 312 # Segment length 100.063632 meters # Minimum depth: 570.444175 meters looking forward 100.000000 meters along route # Maximum depth: 577.365314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.444175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775429; longitude = -121.898975; captureRadius = 10; duration = 100; initialDepth = 523.028324; finalDepth = 520.444175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.921139 # Actual altitude: 56.921139 # Commanded vehicle depth:520.444175 # Seafloor depth:-577.365314 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.38; MB_Bottom_Detect_Filter_Max_Range = 227.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 311 # Segment length 100.063632 meters # Minimum depth: 573.028324 meters looking forward 100.000000 meters along route # Maximum depth: 574.191437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.028324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776300; longitude = -121.898582; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 523.028324; finalDepth = 523.028324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.921139 # Actual altitude: 56.921139 # Commanded vehicle depth:523.028324 # Seafloor depth:-573.434448 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.38; MB_Bottom_Detect_Filter_Max_Range = 227.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 310 # Segment length 100.063632 meters # Minimum depth: 573.028324 meters looking forward 100.000000 meters along route # Maximum depth: 574.191437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.028324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777126; longitude = -121.899012; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 518.630541; finalDepth = 523.028324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.580059 # Actual altitude: 50.580059 # Commanded vehicle depth:523.028324 # Seafloor depth:-573.608383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.12; MB_Bottom_Detect_Filter_Max_Range = 202.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 310 # Segment length 100.063632 meters # Minimum depth: 568.630541 meters looking forward 100.000000 meters along route # Maximum depth: 573.383626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.630541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777187; longitude = -121.899115; captureRadius = 10; duration = 100; initialDepth = 512.604533; finalDepth = 518.630541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7530850000001 # Actual altitude: 54.7530850000001 # Commanded vehicle depth:518.630541 # Seafloor depth:-573.383626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.95; MB_Bottom_Detect_Filter_Max_Range = 219.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 310 # Segment length 100.063632 meters # Minimum depth: 562.604533 meters looking forward 100.000000 meters along route # Maximum depth: 568.554910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.604533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777727; longitude = -121.900032; captureRadius = 10; duration = 100; initialDepth = 507.786650; finalDepth = 512.604533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.950377 # Actual altitude: 55.950377 # Commanded vehicle depth:512.604533 # Seafloor depth:-568.554910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.19; MB_Bottom_Detect_Filter_Max_Range = 223.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 310 # Segment length 100.063632 meters # Minimum depth: 557.786650 meters looking forward 100.000000 meters along route # Maximum depth: 563.034681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.786650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778270; longitude = -121.900954; captureRadius = 10; duration = 100; initialDepth = 504.932156; finalDepth = 507.786650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.950377 # Actual altitude: 55.950377 # Commanded vehicle depth:507.78665 # Seafloor depth:-562.593684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.19; MB_Bottom_Detect_Filter_Max_Range = 223.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 310 # Segment length 100.063632 meters # Minimum depth: 554.932156 meters looking forward 100.000000 meters along route # Maximum depth: 558.770072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.932156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778809; longitude = -121.901867; captureRadius = 10; duration = 100; initialDepth = 503.401115; finalDepth = 504.932156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.807034 # Actual altitude: 54.807034 # Commanded vehicle depth:504.932156 # Seafloor depth:-557.627184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.96; MB_Bottom_Detect_Filter_Max_Range = 219.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 310 # Segment length 100.063632 meters # Minimum depth: 553.401115 meters looking forward 100.000000 meters along route # Maximum depth: 554.845537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.401115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779360; longitude = -121.902802; captureRadius = 10; duration = 100; initialDepth = 502.939597; finalDepth = 503.401115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6950280000001 # Actual altitude: 52.6950280000001 # Commanded vehicle depth:503.401115 # Seafloor depth:-554.845537 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.54; MB_Bottom_Detect_Filter_Max_Range = 210.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 309 # Segment length 100.063632 meters # Minimum depth: 552.939597 meters looking forward 100.000000 meters along route # Maximum depth: 554.414555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.939597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779903; longitude = -121.903724; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 501.651575; finalDepth = 502.939597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.444422 # Actual altitude: 51.444422 # Commanded vehicle depth:502.939597 # Seafloor depth:-553.585800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.29; MB_Bottom_Detect_Filter_Max_Range = 205.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 309 # Segment length 100.063632 meters # Minimum depth: 551.651575 meters looking forward 100.000000 meters along route # Maximum depth: 553.298968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.651575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780272; longitude = -121.904091; captureRadius = 10; duration = 100; initialDepth = 501.531347; finalDepth = 501.651575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.647393 # Actual altitude: 51.647393 # Commanded vehicle depth:501.651575 # Seafloor depth:-553.298968 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.33; MB_Bottom_Detect_Filter_Max_Range = 206.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 308 # Segment length 100.063632 meters # Minimum depth: 551.531347 meters looking forward 100.000000 meters along route # Maximum depth: 552.966083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.531347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780987; longitude = -121.904800; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 499.774254; finalDepth = 501.531347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.647393 # Actual altitude: 51.647393 # Commanded vehicle depth:501.531347 # Seafloor depth:-551.686981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.33; MB_Bottom_Detect_Filter_Max_Range = 206.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 308 # Segment length 100.063632 meters # Minimum depth: 549.774254 meters looking forward 100.000000 meters along route # Maximum depth: 551.602815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.774254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781197; longitude = -121.904725; captureRadius = 10; duration = 100; initialDepth = 495.243412; finalDepth = 499.774254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.659225 # Actual altitude: 51.659225 # Commanded vehicle depth:499.774254 # Seafloor depth:-551.433479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.33; MB_Bottom_Detect_Filter_Max_Range = 206.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 308 # Segment length 100.063632 meters # Minimum depth: 545.243412 meters looking forward 100.000000 meters along route # Maximum depth: 549.677470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.243412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782098; longitude = -121.904401; captureRadius = 10; duration = 100; initialDepth = 491.021479; finalDepth = 495.243412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4340579999999 # Actual altitude: 54.4340579999999 # Commanded vehicle depth:495.243412 # Seafloor depth:-549.677470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.89; MB_Bottom_Detect_Filter_Max_Range = 217.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 308 # Segment length 100.063632 meters # Minimum depth: 541.021479 meters looking forward 100.000000 meters along route # Maximum depth: 544.994917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.021479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782999; longitude = -121.904078; captureRadius = 10; duration = 100; initialDepth = 488.665200; finalDepth = 491.021479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4340579999999 # Actual altitude: 54.4340579999999 # Commanded vehicle depth:491.021479 # Seafloor depth:-544.994917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.89; MB_Bottom_Detect_Filter_Max_Range = 217.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 308 # Segment length 100.063632 meters # Minimum depth: 538.665200 meters looking forward 100.000000 meters along route # Maximum depth: 541.020699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.665200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783902; longitude = -121.903755; captureRadius = 10; duration = 100; initialDepth = 486.217774; finalDepth = 488.665200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.973438 # Actual altitude: 53.973438 # Commanded vehicle depth:488.6652 # Seafloor depth:-541.020699 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.79; MB_Bottom_Detect_Filter_Max_Range = 215.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 307 # Segment length 100.063632 meters # Minimum depth: 536.217774 meters looking forward 100.000000 meters along route # Maximum depth: 538.853968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.217774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784787; longitude = -121.903437; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 482.472997; finalDepth = 486.217774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5239710000001 # Actual altitude: 52.5239710000001 # Commanded vehicle depth:486.217774 # Seafloor depth:-538.741745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.50; MB_Bottom_Detect_Filter_Max_Range = 210.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 307 # Segment length 100.063632 meters # Minimum depth: 532.472997 meters looking forward 100.000000 meters along route # Maximum depth: 536.094024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.472997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785478; longitude = -121.903498; captureRadius = 10; duration = 100; initialDepth = 479.605869; finalDepth = 482.472997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.621027 # Actual altitude: 53.621027 # Commanded vehicle depth:482.472997 # Seafloor depth:-536.094024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.72; MB_Bottom_Detect_Filter_Max_Range = 214.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 307 # Segment length 100.063632 meters # Minimum depth: 529.605869 meters looking forward 100.000000 meters along route # Maximum depth: 532.714500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.605869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786379; longitude = -121.903577; captureRadius = 10; duration = 100; initialDepth = 476.568134; finalDepth = 479.605869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.621027 # Actual altitude: 53.621027 # Commanded vehicle depth:479.605869 # Seafloor depth:-532.554050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.72; MB_Bottom_Detect_Filter_Max_Range = 214.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 307 # Segment length 100.063632 meters # Minimum depth: 526.568134 meters looking forward 100.000000 meters along route # Maximum depth: 529.484579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.568134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787280; longitude = -121.903656; captureRadius = 10; duration = 100; initialDepth = 475.849210; finalDepth = 476.568134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.948181 # Actual altitude: 52.948181 # Commanded vehicle depth:476.568134 # Seafloor depth:-529.484579 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.59; MB_Bottom_Detect_Filter_Max_Range = 211.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 306 # Segment length 100.063632 meters # Minimum depth: 525.849210 meters looking forward 100.000000 meters along route # Maximum depth: 528.721933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.849210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788197; longitude = -121.903736; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 471.614534; finalDepth = 475.849210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9164450000001 # Actual altitude: 52.9164450000001 # Commanded vehicle depth:475.84921 # Seafloor depth:-526.455612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.58; MB_Bottom_Detect_Filter_Max_Range = 211.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 306 # Segment length 100.063632 meters # Minimum depth: 521.614534 meters looking forward 100.000000 meters along route # Maximum depth: 525.762751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.614534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788317; longitude = -121.903744; captureRadius = 10; duration = 100; initialDepth = 471.165779; finalDepth = 471.614534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.069626 # Actual altitude: 54.069626 # Commanded vehicle depth:471.614534 # Seafloor depth:-525.684160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.81; MB_Bottom_Detect_Filter_Max_Range = 216.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 306 # Segment length 100.063632 meters # Minimum depth: 521.165779 meters looking forward 100.000000 meters along route # Maximum depth: 523.719299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.165779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789218; longitude = -121.903807; captureRadius = 10; duration = 100; initialDepth = 472.850019; finalDepth = 471.165779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.069626 # Actual altitude: 54.069626 # Commanded vehicle depth:471.165779 # Seafloor depth:-521.831807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.81; MB_Bottom_Detect_Filter_Max_Range = 216.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 306 # Segment length 100.063632 meters # Minimum depth: 522.850019 meters looking forward 100.000000 meters along route # Maximum depth: 524.138700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.850019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790119; longitude = -121.903870; captureRadius = 10; duration = 100; initialDepth = 466.724458; finalDepth = 472.850019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9962840000001 # Actual altitude: 50.9962840000001 # Commanded vehicle depth:472.850019 # Seafloor depth:-523.846303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.20; MB_Bottom_Detect_Filter_Max_Range = 203.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 306 # Segment length 100.063632 meters # Minimum depth: 516.724458 meters looking forward 100.000000 meters along route # Maximum depth: 522.730342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.724458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791020; longitude = -121.903932; captureRadius = 10; duration = 100; initialDepth = 465.071676; finalDepth = 466.724458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.0058839999999 # Actual altitude: 56.0058839999999 # Commanded vehicle depth:466.724458 # Seafloor depth:-522.730342 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.20; MB_Bottom_Detect_Filter_Max_Range = 224.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 305 # Segment length 100.063632 meters # Minimum depth: 515.071676 meters looking forward 100.000000 meters along route # Maximum depth: 518.589241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.071676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791952; longitude = -121.903997; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 460.722466; finalDepth = 465.071676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.0058839999999 # Actual altitude: 56.0058839999999 # Commanded vehicle depth:465.071676 # Seafloor depth:-516.649567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.20; MB_Bottom_Detect_Filter_Max_Range = 224.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 305 # Segment length 100.063632 meters # Minimum depth: 510.722466 meters looking forward 100.000000 meters along route # Maximum depth: 514.833137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.722466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792462; longitude = -121.904171; captureRadius = 10; duration = 100; initialDepth = 454.066764; finalDepth = 460.722466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.110671 # Actual altitude: 54.110671 # Commanded vehicle depth:460.722466 # Seafloor depth:-514.833137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.82; MB_Bottom_Detect_Filter_Max_Range = 216.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 305 # Segment length 100.063632 meters # Minimum depth: 504.066764 meters looking forward 100.000000 meters along route # Maximum depth: 510.677475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.066764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793374; longitude = -121.904483; captureRadius = 10; duration = 100; initialDepth = 449.494841; finalDepth = 454.066764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.610711 # Actual altitude: 56.610711 # Commanded vehicle depth:454.066764 # Seafloor depth:-510.677475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.32; MB_Bottom_Detect_Filter_Max_Range = 226.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 305 # Segment length 100.063632 meters # Minimum depth: 499.494841 meters looking forward 100.000000 meters along route # Maximum depth: 504.089156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.494841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794265; longitude = -121.904787; captureRadius = 10; duration = 100; initialDepth = 449.969792; finalDepth = 449.494841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.610711 # Actual altitude: 56.610711 # Commanded vehicle depth:449.494841 # Seafloor depth:-503.807020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.32; MB_Bottom_Detect_Filter_Max_Range = 226.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 305 # Segment length 100.063632 meters # Minimum depth: 499.969792 meters looking forward 100.000000 meters along route # Maximum depth: 501.738126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.969792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795177; longitude = -121.905099; captureRadius = 10; duration = 100; initialDepth = 449.735937; finalDepth = 449.969792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.312179 # Actual altitude: 54.312179 # Commanded vehicle depth:449.969792 # Seafloor depth:-499.969792 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.86; MB_Bottom_Detect_Filter_Max_Range = 217.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 304 # Segment length 100.063632 meters # Minimum depth: 499.735937 meters looking forward 100.000000 meters along route # Maximum depth: 501.738126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.735937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796052; longitude = -121.905398; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 446.732220; finalDepth = 449.735937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.727373 # Actual altitude: 51.727373 # Commanded vehicle depth:449.735937 # Seafloor depth:-501.463310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.35; MB_Bottom_Detect_Filter_Max_Range = 206.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 304 # Segment length 100.063632 meters # Minimum depth: 496.732220 meters looking forward 100.000000 meters along route # Maximum depth: 502.518006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.732220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796439; longitude = -121.904875; captureRadius = 10; duration = 100; initialDepth = 446.797771; finalDepth = 446.732220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.474041 # Actual altitude: 52.474041 # Commanded vehicle depth:446.73222 # Seafloor depth:-499.206261 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.49; MB_Bottom_Detect_Filter_Max_Range = 209.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 303 # Segment length 100.063632 meters # Minimum depth: 496.797771 meters looking forward 100.000000 meters along route # Maximum depth: 502.518006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.797771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797074; longitude = -121.904016; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 443.654506; finalDepth = 446.797771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.934376 # Actual altitude: 52.934376 # Commanded vehicle depth:446.797771 # Seafloor depth:-499.732147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.59; MB_Bottom_Detect_Filter_Max_Range = 211.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 303 # Segment length 100.063632 meters # Minimum depth: 493.654506 meters looking forward 100.000000 meters along route # Maximum depth: 498.921511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.654506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797107; longitude = -121.903923; captureRadius = 10; duration = 100; initialDepth = 440.801679; finalDepth = 443.654506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.267005 # Actual altitude: 55.267005 # Commanded vehicle depth:443.654506 # Seafloor depth:-498.921511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.05; MB_Bottom_Detect_Filter_Max_Range = 221.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 303 # Segment length 100.063632 meters # Minimum depth: 490.801679 meters looking forward 100.000000 meters along route # Maximum depth: 493.629202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.801679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797483; longitude = -121.902858; captureRadius = 10; duration = 100; initialDepth = 440.009072; finalDepth = 440.801679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.267005 # Actual altitude: 55.267005 # Commanded vehicle depth:440.801679 # Seafloor depth:-493.629202 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.05; MB_Bottom_Detect_Filter_Max_Range = 221.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 302 # Segment length 100.063632 meters # Minimum depth: 490.009072 meters looking forward 100.000000 meters along route # Maximum depth: 491.650683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.009072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797859; longitude = -121.901795; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 437.379536; finalDepth = 440.009072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.827523 # Actual altitude: 52.827523 # Commanded vehicle depth:440.009072 # Seafloor depth:-490.738609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.57; MB_Bottom_Detect_Filter_Max_Range = 211.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 302 # Segment length 100.063632 meters # Minimum depth: 487.379536 meters looking forward 100.000000 meters along route # Maximum depth: 490.144613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.379536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797997; longitude = -121.901290; captureRadius = 10; duration = 100; initialDepth = 425.351195; finalDepth = 437.379536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.608771 # Actual altitude: 52.608771 # Commanded vehicle depth:437.379536 # Seafloor depth:-489.988307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.52; MB_Bottom_Detect_Filter_Max_Range = 210.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 302 # Segment length 100.063632 meters # Minimum depth: 475.351195 meters looking forward 100.000000 meters along route # Maximum depth: 487.274492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.351195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798288; longitude = -121.900225; captureRadius = 10; duration = 100; initialDepth = 417.154537; finalDepth = 425.351195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.923297 # Actual altitude: 61.923297 # Commanded vehicle depth:425.351195 # Seafloor depth:-487.274492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.38; MB_Bottom_Detect_Filter_Max_Range = 247.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 302 # Segment length 100.063632 meters # Minimum depth: 467.154537 meters looking forward 100.000000 meters along route # Maximum depth: 474.789403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.154537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798580; longitude = -121.899161; captureRadius = 10; duration = 100; initialDepth = 417.154537; finalDepth = 417.154537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.923297 # Actual altitude: 61.923297 # Commanded vehicle depth:417.154537 # Seafloor depth:-474.789403 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.38; MB_Bottom_Detect_Filter_Max_Range = 247.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 301 # Segment length 100.063632 meters # Minimum depth: 467.154537 meters looking forward 100.000000 meters along route # Maximum depth: 473.900652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.154537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798876; longitude = -121.898078; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 424.014289; finalDepth = 417.154537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.634866 # Actual altitude: 57.634866 # Commanded vehicle depth:417.154537 # Seafloor depth:-469.559883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.53; MB_Bottom_Detect_Filter_Max_Range = 230.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 301 # Segment length 100.063632 meters # Minimum depth: 474.014289 meters looking forward 100.000000 meters along route # Maximum depth: 476.440651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.014289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798568; longitude = -121.897312; captureRadius = 10; duration = 100; initialDepth = 423.178591; finalDepth = 424.014289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.405346 # Actual altitude: 52.405346 # Commanded vehicle depth:424.014289 # Seafloor depth:-474.014289 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.48; MB_Bottom_Detect_Filter_Max_Range = 209.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 300 # Segment length 100.063632 meters # Minimum depth: 473.178591 meters looking forward 100.000000 meters along route # Maximum depth: 476.485016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.178591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798155; longitude = -121.896285; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 407.477205; finalDepth = 423.178591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.306425 # Actual altitude: 53.306425 # Commanded vehicle depth:423.178591 # Seafloor depth:-476.485016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.66; MB_Bottom_Detect_Filter_Max_Range = 213.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 300 # Segment length 100.063632 meters # Minimum depth: 457.477205 meters looking forward 100.000000 meters along route # Maximum depth: 472.290265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.477205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797329; longitude = -121.896443; captureRadius = 10; duration = 100; initialDepth = 401.676608; finalDepth = 407.477205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.81306 # Actual altitude: 64.81306 # Commanded vehicle depth:407.477205 # Seafloor depth:-472.290265 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.96; MB_Bottom_Detect_Filter_Max_Range = 259.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 299 # Segment length 100.063632 meters # Minimum depth: 451.676608 meters looking forward 100.000000 meters along route # Maximum depth: 463.471182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.676608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796398; longitude = -121.896622; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 395.804653; finalDepth = 401.676608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.81306 # Actual altitude: 64.81306 # Commanded vehicle depth:401.676608 # Seafloor depth:-457.025848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.96; MB_Bottom_Detect_Filter_Max_Range = 259.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 299 # Segment length 100.063632 meters # Minimum depth: 445.804653 meters looking forward 100.000000 meters along route # Maximum depth: 450.653152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.804653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795977; longitude = -121.896510; captureRadius = 10; duration = 100; initialDepth = 394.153072; finalDepth = 395.804653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.34924 # Actual altitude: 55.34924 # Commanded vehicle depth:395.804653 # Seafloor depth:-450.653152 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.07; MB_Bottom_Detect_Filter_Max_Range = 221.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 298 # Segment length 100.063632 meters # Minimum depth: 444.153072 meters looking forward 100.000000 meters along route # Maximum depth: 447.794746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.153072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795061; longitude = -121.896267; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 392.776226; finalDepth = 394.153072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.848499 # Actual altitude: 54.848499 # Commanded vehicle depth:394.153072 # Seafloor depth:-447.368950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.97; MB_Bottom_Detect_Filter_Max_Range = 219.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 298 # Segment length 100.063632 meters # Minimum depth: 442.776226 meters looking forward 100.000000 meters along route # Maximum depth: 449.964305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.776226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794935; longitude = -121.895912; captureRadius = 10; duration = 100; initialDepth = 392.776226; finalDepth = 392.776226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.215878 # Actual altitude: 53.215878 # Commanded vehicle depth:392.776226 # Seafloor depth:-444.046127 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.64; MB_Bottom_Detect_Filter_Max_Range = 212.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 297 # Segment length 100.063632 meters # Minimum depth: 442.776226 meters looking forward 100.000000 meters along route # Maximum depth: 450.379807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.776226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794565; longitude = -121.894866; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 393.307049; finalDepth = 392.776226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.603581 # Actual altitude: 57.603581 # Commanded vehicle depth:392.776226 # Seafloor depth:-450.379807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.52; MB_Bottom_Detect_Filter_Max_Range = 230.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 297 # Segment length 100.063632 meters # Minimum depth: 448.862319 meters looking forward 100.000000 meters along route # Maximum depth: 450.201702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.307049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794571; longitude = -121.894848; captureRadius = 10; duration = 100; initialDepth = 397.432054; finalDepth = 393.307049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.603581 # Actual altitude: 57.603581 # Commanded vehicle depth:393.307049000002 # Seafloor depth:-450.201702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.52; MB_Bottom_Detect_Filter_Max_Range = 230.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 297 # Segment length 100.063632 meters # Minimum depth: 447.432054 meters looking forward 100.000000 meters along route # Maximum depth: 448.965657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.432054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794915; longitude = -121.893783; captureRadius = 10; duration = 100; initialDepth = 396.519532; finalDepth = 397.432054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8946529999976 # Actual altitude: 56.8946529999976 # Commanded vehicle depth:397.432054 # Seafloor depth:-448.965657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.38; MB_Bottom_Detect_Filter_Max_Range = 227.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 297 # Segment length 100.063632 meters # Minimum depth: 446.519532 meters looking forward 100.000000 meters along route # Maximum depth: 447.469271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.519532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795258; longitude = -121.892719; captureRadius = 10; duration = 100; initialDepth = 394.256787; finalDepth = 396.519532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.533603 # Actual altitude: 51.533603 # Commanded vehicle depth:396.519532 # Seafloor depth:-447.469271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.31; MB_Bottom_Detect_Filter_Max_Range = 206.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 297 # Segment length 100.063632 meters # Minimum depth: 444.256787 meters looking forward 100.000000 meters along route # Maximum depth: 446.849839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.256787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795602; longitude = -121.891655; captureRadius = 10; duration = 100; initialDepth = 390.921325; finalDepth = 394.256787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.593052 # Actual altitude: 52.593052 # Commanded vehicle depth:394.256787 # Seafloor depth:-446.849839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.52; MB_Bottom_Detect_Filter_Max_Range = 210.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 297 # Segment length 100.063632 meters # Minimum depth: 440.921325 meters looking forward 100.000000 meters along route # Maximum depth: 444.476311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.921325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795946; longitude = -121.890590; captureRadius = 10; duration = 100; initialDepth = 386.711354; finalDepth = 390.921325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.554986 # Actual altitude: 53.554986 # Commanded vehicle depth:390.921325 # Seafloor depth:-444.476311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.71; MB_Bottom_Detect_Filter_Max_Range = 214.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 297 # Segment length 100.063632 meters # Minimum depth: 436.711354 meters looking forward 100.000000 meters along route # Maximum depth: 440.882618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.711354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796293; longitude = -121.889516; captureRadius = 10; duration = 100; initialDepth = 383.377914; finalDepth = 386.711354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.171264 # Actual altitude: 54.171264 # Commanded vehicle depth:386.711354 # Seafloor depth:-440.882618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.83; MB_Bottom_Detect_Filter_Max_Range = 216.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 297 # Segment length 100.063632 meters # Minimum depth: 433.377914 meters looking forward 100.000000 meters along route # Maximum depth: 436.551026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.377914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796633; longitude = -121.888461; captureRadius = 10; duration = 100; initialDepth = 381.430263; finalDepth = 383.377914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.171264 # Actual altitude: 54.171264 # Commanded vehicle depth:383.377914 # Seafloor depth:-436.551026 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.83; MB_Bottom_Detect_Filter_Max_Range = 216.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 296 # Segment length 100.063632 meters # Minimum depth: 431.430263 meters looking forward 100.000000 meters along route # Maximum depth: 434.134403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.430263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796983; longitude = -121.887378; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 379.804083; finalDepth = 381.430263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.173112 # Actual altitude: 53.173112 # Commanded vehicle depth:381.430263 # Seafloor depth:-433.287628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.63; MB_Bottom_Detect_Filter_Max_Range = 212.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 296 # Segment length 100.063632 meters # Minimum depth: 429.804083 meters looking forward 100.000000 meters along route # Maximum depth: 431.431747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.804083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796843; longitude = -121.886669; captureRadius = 10; duration = 100; initialDepth = 379.789911; finalDepth = 379.804083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.857365 # Actual altitude: 51.857365 # Commanded vehicle depth:379.804083 # Seafloor depth:-431.349641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.37; MB_Bottom_Detect_Filter_Max_Range = 207.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 296 # Segment length 100.063632 meters # Minimum depth: 429.789911 meters looking forward 100.000000 meters along route # Maximum depth: 430.889420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.789911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796623; longitude = -121.885549; captureRadius = 10; duration = 100; initialDepth = 379.249105; finalDepth = 379.789911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.545558 # Actual altitude: 51.545558 # Commanded vehicle depth:379.789911 # Seafloor depth:-429.789911 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.31; MB_Bottom_Detect_Filter_Max_Range = 206.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 295 # Segment length 100.063632 meters # Minimum depth: 429.249105 meters looking forward 100.000000 meters along route # Maximum depth: 430.886404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.249105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796398; longitude = -121.884409; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 376.520650; finalDepth = 379.249105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.585101 # Actual altitude: 51.585101 # Commanded vehicle depth:379.249105 # Seafloor depth:-430.834206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.32; MB_Bottom_Detect_Filter_Max_Range = 206.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 295 # Segment length 100.063632 meters # Minimum depth: 426.520650 meters looking forward 100.000000 meters along route # Maximum depth: 429.347697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.520650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795841; longitude = -121.883644; captureRadius = 10; duration = 100; initialDepth = 373.592460; finalDepth = 376.520650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.725318 # Actual altitude: 52.725318 # Commanded vehicle depth:376.52065 # Seafloor depth:-429.245968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.55; MB_Bottom_Detect_Filter_Max_Range = 210.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 295 # Segment length 100.063632 meters # Minimum depth: 423.592460 meters looking forward 100.000000 meters along route # Maximum depth: 426.366441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.592460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795229; longitude = -121.882804; captureRadius = 10; duration = 100; initialDepth = 371.266249; finalDepth = 373.592460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.773981 # Actual altitude: 52.773981 # Commanded vehicle depth:373.59246 # Seafloor depth:-426.366441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.55; MB_Bottom_Detect_Filter_Max_Range = 211.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 295 # Segment length 100.063632 meters # Minimum depth: 421.266249 meters looking forward 100.000000 meters along route # Maximum depth: 423.520429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.266249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794618; longitude = -121.881963; captureRadius = 10; duration = 100; initialDepth = 369.338449; finalDepth = 371.266249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.773981 # Actual altitude: 52.773981 # Commanded vehicle depth:371.266249 # Seafloor depth:-423.520429 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.55; MB_Bottom_Detect_Filter_Max_Range = 211.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 294 # Segment length 100.063632 meters # Minimum depth: 419.338449 meters looking forward 100.000000 meters along route # Maximum depth: 421.840295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.338449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793979; longitude = -121.881086; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 362.916831; finalDepth = 369.338449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.25418 # Actual altitude: 52.25418 # Commanded vehicle depth:369.338449 # Seafloor depth:-421.081581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.45; MB_Bottom_Detect_Filter_Max_Range = 209.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 294 # Segment length 100.063632 meters # Minimum depth: 412.916831 meters looking forward 100.000000 meters along route # Maximum depth: 419.508636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.916831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793722; longitude = -121.880507; captureRadius = 10; duration = 100; initialDepth = 358.407407; finalDepth = 362.916831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.533343 # Actual altitude: 56.533343 # Commanded vehicle depth:362.916831 # Seafloor depth:-419.450174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.31; MB_Bottom_Detect_Filter_Max_Range = 226.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 294 # Segment length 100.063632 meters # Minimum depth: 408.407407 meters looking forward 100.000000 meters along route # Maximum depth: 412.911026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.407407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793273; longitude = -121.879497; captureRadius = 10; duration = 100; initialDepth = 358.285879; finalDepth = 358.407407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.533343 # Actual altitude: 56.533343 # Commanded vehicle depth:358.407407 # Seafloor depth:-412.911026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.31; MB_Bottom_Detect_Filter_Max_Range = 226.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 294 # Segment length 100.063632 meters # Minimum depth: 408.285879 meters looking forward 100.000000 meters along route # Maximum depth: 409.748160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.285879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792823; longitude = -121.878482; captureRadius = 10; duration = 100; initialDepth = 358.285879; finalDepth = 358.285879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.503619 # Actual altitude: 54.503619 # Commanded vehicle depth:358.285879 # Seafloor depth:-408.592614 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.90; MB_Bottom_Detect_Filter_Max_Range = 218.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 293 # Segment length 100.063632 meters # Minimum depth: 408.285879 meters looking forward 100.000000 meters along route # Maximum depth: 409.830551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.285879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792368; longitude = -121.877458; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 356.918976; finalDepth = 358.285879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.544672 # Actual altitude: 51.544672 # Commanded vehicle depth:358.285879 # Seafloor depth:-409.830551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.31; MB_Bottom_Detect_Filter_Max_Range = 206.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 293 # Segment length 100.063632 meters # Minimum depth: 406.918976 meters looking forward 100.000000 meters along route # Maximum depth: 409.038402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.918976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792417; longitude = -121.877240; captureRadius = 10; duration = 100; initialDepth = 352.955646; finalDepth = 356.918976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.02558 # Actual altitude: 52.02558 # Commanded vehicle depth:356.918976 # Seafloor depth:-408.944556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.41; MB_Bottom_Detect_Filter_Max_Range = 208.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 293 # Segment length 100.063632 meters # Minimum depth: 402.955646 meters looking forward 100.000000 meters along route # Maximum depth: 406.707646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.955646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792666; longitude = -121.876137; captureRadius = 10; duration = 100; initialDepth = 347.684648; finalDepth = 352.955646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.752 # Actual altitude: 53.752 # Commanded vehicle depth:352.955646 # Seafloor depth:-406.707646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.75; MB_Bottom_Detect_Filter_Max_Range = 215.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 293 # Segment length 100.063632 meters # Minimum depth: 397.684648 meters looking forward 100.000000 meters along route # Maximum depth: 402.777904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.684648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792913; longitude = -121.875045; captureRadius = 10; duration = 100; initialDepth = 341.390101; finalDepth = 347.684648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.093256 # Actual altitude: 55.093256 # Commanded vehicle depth:347.684648 # Seafloor depth:-402.777904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.02; MB_Bottom_Detect_Filter_Max_Range = 220.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 293 # Segment length 100.063632 meters # Minimum depth: 391.390101 meters looking forward 100.000000 meters along route # Maximum depth: 397.192485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.390101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793160; longitude = -121.873953; captureRadius = 10; duration = 100; initialDepth = 336.479806; finalDepth = 341.390101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.802384 # Actual altitude: 55.802384 # Commanded vehicle depth:341.390101 # Seafloor depth:-397.192485 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.16; MB_Bottom_Detect_Filter_Max_Range = 223.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 292 # Segment length 100.063632 meters # Minimum depth: 386.479806 meters looking forward 100.000000 meters along route # Maximum depth: 395.087391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.479806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793407; longitude = -121.872858; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 334.558636; finalDepth = 336.479806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.802384 # Actual altitude: 55.802384 # Commanded vehicle depth:336.479806 # Seafloor depth:-390.544189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.16; MB_Bottom_Detect_Filter_Max_Range = 223.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 292 # Segment length 100.063632 meters # Minimum depth: 384.558636 meters looking forward 100.000000 meters along route # Maximum depth: 386.302319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.558636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793602; longitude = -121.872272; captureRadius = 10; duration = 100; initialDepth = 335.392334; finalDepth = 334.558636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.064383 # Actual altitude: 54.064383 # Commanded vehicle depth:334.558636 # Seafloor depth:-386.302319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.81; MB_Bottom_Detect_Filter_Max_Range = 216.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 292 # Segment length 100.063632 meters # Minimum depth: 385.392334 meters looking forward 100.000000 meters along route # Maximum depth: 389.444328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.392334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793949; longitude = -121.871230; captureRadius = 10; duration = 100; initialDepth = 339.098044; finalDepth = 335.392334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.743683 # Actual altitude: 51.743683 # Commanded vehicle depth:335.392334 # Seafloor depth:-385.392334 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.35; MB_Bottom_Detect_Filter_Max_Range = 206.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 291 # Segment length 100.063632 meters # Minimum depth: 389.098044 meters looking forward 100.000000 meters along route # Maximum depth: 390.699801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.098044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794297; longitude = -121.870187; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 335.930386; finalDepth = 339.098044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.278634 # Actual altitude: 50.278634 # Commanded vehicle depth:339.098044 # Seafloor depth:-389.376678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.06; MB_Bottom_Detect_Filter_Max_Range = 201.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 291 # Segment length 100.063632 meters # Minimum depth: 385.930386 meters looking forward 100.000000 meters along route # Maximum depth: 389.685666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.930386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794642; longitude = -121.869303; captureRadius = 10; duration = 100; initialDepth = 331.800039; finalDepth = 335.930386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.75528 # Actual altitude: 53.75528 # Commanded vehicle depth:335.930386 # Seafloor depth:-389.685666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.75; MB_Bottom_Detect_Filter_Max_Range = 215.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 291 # Segment length 100.063632 meters # Minimum depth: 381.800039 meters looking forward 100.000000 meters along route # Maximum depth: 385.762254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.800039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795036; longitude = -121.868295; captureRadius = 10; duration = 100; initialDepth = 328.188627; finalDepth = 331.800039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.962215 # Actual altitude: 53.962215 # Commanded vehicle depth:331.800039 # Seafloor depth:-385.762254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.79; MB_Bottom_Detect_Filter_Max_Range = 215.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 291 # Segment length 100.063632 meters # Minimum depth: 378.188627 meters looking forward 100.000000 meters along route # Maximum depth: 381.660628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.188627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795430; longitude = -121.867286; captureRadius = 10; duration = 100; initialDepth = 321.589293; finalDepth = 328.188627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.962215 # Actual altitude: 53.962215 # Commanded vehicle depth:328.188627 # Seafloor depth:-381.660628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.79; MB_Bottom_Detect_Filter_Max_Range = 215.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 291 # Segment length 100.063632 meters # Minimum depth: 371.589293 meters looking forward 100.000000 meters along route # Maximum depth: 377.843822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 321.589293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795823; longitude = -121.866278; captureRadius = 10; duration = 100; initialDepth = 321.149678; finalDepth = 321.589293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.254529 # Actual altitude: 56.254529 # Commanded vehicle depth:321.589293 # Seafloor depth:-377.843822 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.25; MB_Bottom_Detect_Filter_Max_Range = 225.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 290 # Segment length 100.063632 meters # Minimum depth: 371.149678 meters looking forward 100.000000 meters along route # Maximum depth: 377.206243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 321.149678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796232; longitude = -121.865232; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 308.976753; finalDepth = 321.149678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.254529 # Actual altitude: 56.254529 # Commanded vehicle depth:321.149678 # Seafloor depth:-371.500725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.25; MB_Bottom_Detect_Filter_Max_Range = 225.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 290 # Segment length 100.063632 meters # Minimum depth: 358.976753 meters looking forward 100.000000 meters along route # Maximum depth: 370.407032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 308.976753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796284; longitude = -121.865158; captureRadius = 10; duration = 100; initialDepth = 305.710825; finalDepth = 308.976753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.430279 # Actual altitude: 61.430279 # Commanded vehicle depth:308.976753 # Seafloor depth:-370.407032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.29; MB_Bottom_Detect_Filter_Max_Range = 245.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 290 # Segment length 100.063632 meters # Minimum depth: 355.710825 meters looking forward 100.000000 meters along route # Maximum depth: 358.957921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 305.710825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796878; longitude = -121.864313; captureRadius = 10; duration = 100; initialDepth = 308.003261; finalDepth = 305.710825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.430279 # Actual altitude: 61.430279 # Commanded vehicle depth:305.710825 # Seafloor depth:-358.957921 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.29; MB_Bottom_Detect_Filter_Max_Range = 245.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 289 # Segment length 100.063632 meters # Minimum depth: 358.003261 meters looking forward 100.000000 meters along route # Maximum depth: 364.256219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 308.003261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797479; longitude = -121.863459; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 312.596702; finalDepth = 308.003261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.247096 # Actual altitude: 53.247096 # Commanded vehicle depth:308.003261 # Seafloor depth:-358.294327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.65; MB_Bottom_Detect_Filter_Max_Range = 212.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 289 # Segment length 100.063632 meters # Minimum depth: 362.596702 meters looking forward 100.000000 meters along route # Maximum depth: 364.501526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 312.596702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798185; longitude = -121.862729; captureRadius = 10; duration = 100; initialDepth = 309.758721; finalDepth = 312.596702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.684447 # Actual altitude: 51.684447 # Commanded vehicle depth:312.596702 # Seafloor depth:-364.281149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.34; MB_Bottom_Detect_Filter_Max_Range = 206.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 289 # Segment length 100.063632 meters # Minimum depth: 359.758721 meters looking forward 100.000000 meters along route # Maximum depth: 362.648298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.758721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798906; longitude = -121.861984; captureRadius = 10; duration = 100; initialDepth = 305.970108; finalDepth = 309.758721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.719905 # Actual altitude: 52.719905 # Commanded vehicle depth:309.758721 # Seafloor depth:-362.478626 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.54; MB_Bottom_Detect_Filter_Max_Range = 210.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 288 # Segment length 100.063632 meters # Minimum depth: 355.970108 meters looking forward 100.000000 meters along route # Maximum depth: 361.374565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 305.970108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799612; longitude = -121.861255; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 289.476920; finalDepth = 305.970108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.60183 # Actual altitude: 53.60183 # Commanded vehicle depth:305.970108 # Seafloor depth:-359.571938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.72; MB_Bottom_Detect_Filter_Max_Range = 214.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 288 # Segment length 100.063632 meters # Minimum depth: 339.476920 meters looking forward 100.000000 meters along route # Maximum depth: 355.675195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.476920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800049; longitude = -121.861012; captureRadius = 10; duration = 100; initialDepth = 281.317586; finalDepth = 289.476920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.198275 # Actual altitude: 66.198275 # Commanded vehicle depth:289.47692 # Seafloor depth:-355.675195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.24; MB_Bottom_Detect_Filter_Max_Range = 264.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 288 # Segment length 100.063632 meters # Minimum depth: 331.317586 meters looking forward 100.000000 meters along route # Maximum depth: 339.171096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.317586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800889; longitude = -121.860546; captureRadius = 10; duration = 100; initialDepth = 278.563894; finalDepth = 281.317586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.198275 # Actual altitude: 66.198275 # Commanded vehicle depth:281.317586 # Seafloor depth:-339.171096 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.24; MB_Bottom_Detect_Filter_Max_Range = 264.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 287 # Segment length 100.063632 meters # Minimum depth: 328.563894 meters looking forward 100.000000 meters along route # Maximum depth: 337.673237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.563894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801730; longitude = -121.860079; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 278.978475; finalDepth = 278.563894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.85351 # Actual altitude: 57.85351 # Commanded vehicle depth:278.563894 # Seafloor depth:-330.992638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.57; MB_Bottom_Detect_Filter_Max_Range = 231.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 287 # Segment length 100.063632 meters # Minimum depth: 328.978475 meters looking forward 100.000000 meters along route # Maximum depth: 334.853356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.978475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801765; longitude = -121.859612; captureRadius = 10; duration = 100; initialDepth = 281.373840; finalDepth = 278.978475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.428744 # Actual altitude: 52.428744 # Commanded vehicle depth:278.978475 # Seafloor depth:-329.665479 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.49; MB_Bottom_Detect_Filter_Max_Range = 209.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 286 # Segment length 100.063632 meters # Minimum depth: 331.373840 meters looking forward 100.000000 meters along route # Maximum depth: 334.853356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.373840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801850; longitude = -121.858473; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 280.854301; finalDepth = 281.373840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.341111 # Actual altitude: 53.341111 # Commanded vehicle depth:281.37384 # Seafloor depth:-334.714951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.67; MB_Bottom_Detect_Filter_Max_Range = 213.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 286 # Segment length 100.063632 meters # Minimum depth: 330.854301 meters looking forward 100.000000 meters along route # Maximum depth: 332.226952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.854301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801339; longitude = -121.857704; captureRadius = 10; duration = 100; initialDepth = 279.665330; finalDepth = 280.854301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.341111 # Actual altitude: 53.341111 # Commanded vehicle depth:280.854301 # Seafloor depth:-332.054213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.67; MB_Bottom_Detect_Filter_Max_Range = 213.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 286 # Segment length 100.063632 meters # Minimum depth: 329.665330 meters looking forward 100.000000 meters along route # Maximum depth: 330.836468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 279.665330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800747; longitude = -121.856811; captureRadius = 10; duration = 100; initialDepth = 277.907988; finalDepth = 279.665330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.199912 # Actual altitude: 51.199912 # Commanded vehicle depth:279.66533 # Seafloor depth:-330.836468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.24; MB_Bottom_Detect_Filter_Max_Range = 204.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 286 # Segment length 100.063632 meters # Minimum depth: 327.907988 meters looking forward 100.000000 meters along route # Maximum depth: 329.606325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 277.907988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800152; longitude = -121.855915; captureRadius = 10; duration = 100; initialDepth = 276.102030; finalDepth = 277.907988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.698337 # Actual altitude: 51.698337 # Commanded vehicle depth:277.907988 # Seafloor depth:-329.606325 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.34; MB_Bottom_Detect_Filter_Max_Range = 206.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 285 # Segment length 100.063632 meters # Minimum depth: 326.102030 meters looking forward 100.000000 meters along route # Maximum depth: 328.374646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.102030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799562; longitude = -121.855025; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 270.662862; finalDepth = 276.102030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.851507 # Actual altitude: 51.851507 # Commanded vehicle depth:276.10203 # Seafloor depth:-327.953537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.37; MB_Bottom_Detect_Filter_Max_Range = 207.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 285 # Segment length 100.063632 meters # Minimum depth: 320.662862 meters looking forward 100.000000 meters along route # Maximum depth: 325.903186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.662862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798951; longitude = -121.854506; captureRadius = 10; duration = 100; initialDepth = 264.343131; finalDepth = 270.662862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.240324 # Actual altitude: 55.240324 # Commanded vehicle depth:270.662862 # Seafloor depth:-325.903186 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.05; MB_Bottom_Detect_Filter_Max_Range = 220.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 284 # Segment length 100.063632 meters # Minimum depth: 314.343131 meters looking forward 100.000000 meters along route # Maximum depth: 321.878499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.343131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798199; longitude = -121.853867; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 263.253609; finalDepth = 264.343131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.317781 # Actual altitude: 56.317781 # Commanded vehicle depth:264.343131 # Seafloor depth:-320.660912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.26; MB_Bottom_Detect_Filter_Max_Range = 225.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 284 # Segment length 100.063632 meters # Minimum depth: 313.253609 meters looking forward 100.000000 meters along route # Maximum depth: 315.462292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.253609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797735; longitude = -121.853380; captureRadius = 10; duration = 100; initialDepth = 264.139550; finalDepth = 263.253609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.317781 # Actual altitude: 56.317781 # Commanded vehicle depth:263.253609 # Seafloor depth:-314.039391 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.26; MB_Bottom_Detect_Filter_Max_Range = 225.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 283 # Segment length 100.063632 meters # Minimum depth: 314.139550 meters looking forward 100.000000 meters along route # Maximum depth: 316.125441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.139550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797023; longitude = -121.852634; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 263.115307; finalDepth = 264.139550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.366958 # Actual altitude: 51.366958 # Commanded vehicle depth:264.13955 # Seafloor depth:-315.506508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.27; MB_Bottom_Detect_Filter_Max_Range = 205.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 283 # Segment length 100.063632 meters # Minimum depth: 313.115307 meters looking forward 100.000000 meters along route # Maximum depth: 314.562989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.115307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796653; longitude = -121.852141; captureRadius = 10; duration = 100; initialDepth = 262.066672; finalDepth = 263.115307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.366958 # Actual altitude: 51.366958 # Commanded vehicle depth:263.115307 # Seafloor depth:-314.353764 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.27; MB_Bottom_Detect_Filter_Max_Range = 205.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 282 # Segment length 100.063632 meters # Minimum depth: 312.066672 meters looking forward 100.000000 meters along route # Maximum depth: 314.304500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.066672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796014; longitude = -121.851289; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 259.247089; finalDepth = 262.066672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.238457 # Actual altitude: 51.238457 # Commanded vehicle depth:262.066672 # Seafloor depth:-313.288704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.25; MB_Bottom_Detect_Filter_Max_Range = 204.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 282 # Segment length 100.063632 meters # Minimum depth: 309.247089 meters looking forward 100.000000 meters along route # Maximum depth: 312.092057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.247089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795821; longitude = -121.850873; captureRadius = 10; duration = 100; initialDepth = 254.130835; finalDepth = 259.247089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.787068 # Actual altitude: 52.787068 # Commanded vehicle depth:259.247089 # Seafloor depth:-312.034157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.56; MB_Bottom_Detect_Filter_Max_Range = 211.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 282 # Segment length 100.063632 meters # Minimum depth: 304.130835 meters looking forward 100.000000 meters along route # Maximum depth: 309.377376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.130835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795346; longitude = -121.849852; captureRadius = 10; duration = 100; initialDepth = 252.334468; finalDepth = 254.130835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.246541 # Actual altitude: 55.246541 # Commanded vehicle depth:254.130835 # Seafloor depth:-309.377376 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.05; MB_Bottom_Detect_Filter_Max_Range = 220.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 281 # Segment length 100.063632 meters # Minimum depth: 302.334468 meters looking forward 100.000000 meters along route # Maximum depth: 305.804348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.334468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794894; longitude = -121.848879; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 247.746238; finalDepth = 252.334468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.246541 # Actual altitude: 55.246541 # Commanded vehicle depth:252.334468 # Seafloor depth:-304.394630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.05; MB_Bottom_Detect_Filter_Max_Range = 220.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 281 # Segment length 100.063632 meters # Minimum depth: 297.746238 meters looking forward 100.000000 meters along route # Maximum depth: 302.206703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 247.746238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794570; longitude = -121.848016; captureRadius = 10; duration = 100; initialDepth = 243.566282; finalDepth = 247.746238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.460465 # Actual altitude: 54.460465 # Commanded vehicle depth:247.746238 # Seafloor depth:-302.206703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.89; MB_Bottom_Detect_Filter_Max_Range = 217.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 281 # Segment length 100.063632 meters # Minimum depth: 293.566282 meters looking forward 100.000000 meters along route # Maximum depth: 298.104482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 243.566282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794175; longitude = -121.846964; captureRadius = 10; duration = 100; initialDepth = 240.507292; finalDepth = 243.566282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.518167 # Actual altitude: 54.518167 # Commanded vehicle depth:243.566282 # Seafloor depth:-298.084449 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.90; MB_Bottom_Detect_Filter_Max_Range = 218.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 280 # Segment length 100.063632 meters # Minimum depth: 290.507292 meters looking forward 100.000000 meters along route # Maximum depth: 295.427522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.507292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793792; longitude = -121.845946; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 236.928097; finalDepth = 240.507292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.518167 # Actual altitude: 54.518167 # Commanded vehicle depth:240.507292 # Seafloor depth:-293.352623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.90; MB_Bottom_Detect_Filter_Max_Range = 218.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 280 # Segment length 100.063632 meters # Minimum depth: 286.928097 meters looking forward 100.000000 meters along route # Maximum depth: 290.110571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.928097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793565; longitude = -121.845327; captureRadius = 10; duration = 100; initialDepth = 234.115229; finalDepth = 236.928097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.182474 # Actual altitude: 53.182474 # Commanded vehicle depth:236.928097 # Seafloor depth:-290.110571 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.64; MB_Bottom_Detect_Filter_Max_Range = 212.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 279 # Segment length 100.063632 meters # Minimum depth: 284.115229 meters looking forward 100.000000 meters along route # Maximum depth: 288.228792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.115229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793176; longitude = -121.844265; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 230.381018; finalDepth = 234.115229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.182474 # Actual altitude: 53.182474 # Commanded vehicle depth:234.115229 # Seafloor depth:-287.022446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.64; MB_Bottom_Detect_Filter_Max_Range = 212.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 279 # Segment length 100.063632 meters # Minimum depth: 280.381018 meters looking forward 100.000000 meters along route # Maximum depth: 284.325970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.381018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792958; longitude = -121.843479; captureRadius = 10; duration = 100; initialDepth = 228.087617; finalDepth = 230.381018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.732209 # Actual altitude: 53.732209 # Commanded vehicle depth:230.381018 # Seafloor depth:-284.113227 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.75; MB_Bottom_Detect_Filter_Max_Range = 214.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 278 # Segment length 100.063632 meters # Minimum depth: 278.087617 meters looking forward 100.000000 meters along route # Maximum depth: 280.720910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.087617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792653; longitude = -121.842379; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 223.129401; finalDepth = 228.087617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.732209 # Actual altitude: 53.732209 # Commanded vehicle depth:228.087617 # Seafloor depth:-280.514801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.75; MB_Bottom_Detect_Filter_Max_Range = 214.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 278 # Segment length 100.063632 meters # Minimum depth: 273.129401 meters looking forward 100.000000 meters along route # Maximum depth: 277.631656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.129401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792440; longitude = -121.841574; captureRadius = 10; duration = 100; initialDepth = 221.472919; finalDepth = 223.129401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.502255 # Actual altitude: 54.502255 # Commanded vehicle depth:223.129401 # Seafloor depth:-277.631656 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.90; MB_Bottom_Detect_Filter_Max_Range = 218.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 277 # Segment length 100.063632 meters # Minimum depth: 271.472919 meters looking forward 100.000000 meters along route # Maximum depth: 275.471781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 221.472919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792149; longitude = -121.840473; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 217.431218; finalDepth = 221.472919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.502255 # Actual altitude: 54.502255 # Commanded vehicle depth:221.472919 # Seafloor depth:-272.961433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.90; MB_Bottom_Detect_Filter_Max_Range = 218.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 277 # Segment length 100.063632 meters # Minimum depth: 267.431218 meters looking forward 100.000000 meters along route # Maximum depth: 271.944161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.431218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792033; longitude = -121.839893; captureRadius = 10; duration = 100; initialDepth = 214.370078; finalDepth = 217.431218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.512943 # Actual altitude: 54.512943 # Commanded vehicle depth:217.431218 # Seafloor depth:-271.944161 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.90; MB_Bottom_Detect_Filter_Max_Range = 218.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 276 # Segment length 100.063632 meters # Minimum depth: 264.370078 meters looking forward 100.000000 meters along route # Maximum depth: 267.965669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.370078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791813; longitude = -121.838792; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 207.751861; finalDepth = 214.370078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.512943 # Actual altitude: 54.512943 # Commanded vehicle depth:214.370078 # Seafloor depth:-267.318291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.90; MB_Bottom_Detect_Filter_Max_Range = 218.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 276 # Segment length 100.063632 meters # Minimum depth: 257.751861 meters looking forward 100.000000 meters along route # Maximum depth: 264.175886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.751861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791554; longitude = -121.837821; captureRadius = 10; duration = 100; initialDepth = 202.844144; finalDepth = 207.751861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.424025 # Actual altitude: 56.424025 # Commanded vehicle depth:207.751861 # Seafloor depth:-264.175886 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.28; MB_Bottom_Detect_Filter_Max_Range = 225.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 275 # Segment length 100.063632 meters # Minimum depth: 252.844144 meters looking forward 100.000000 meters along route # Maximum depth: 258.452051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.844144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791271; longitude = -121.836756; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 199.458810; finalDepth = 202.844144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.424025 # Actual altitude: 56.424025 # Commanded vehicle depth:202.844144 # Seafloor depth:-257.631989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.28; MB_Bottom_Detect_Filter_Max_Range = 225.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 275 # Segment length 100.063632 meters # Minimum depth: 249.458810 meters looking forward 100.000000 meters along route # Maximum depth: 252.826608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.458810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791020; longitude = -121.835742; captureRadius = 10; duration = 100; initialDepth = 199.453434; finalDepth = 199.458810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.787845 # Actual altitude: 54.787845 # Commanded vehicle depth:199.45881 # Seafloor depth:-252.826608 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.96; MB_Bottom_Detect_Filter_Max_Range = 219.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 274 # Segment length 100.063632 meters # Minimum depth: 249.453434 meters looking forward 100.000000 meters along route # Maximum depth: 250.904092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.453434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790749; longitude = -121.834645; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 196.479912; finalDepth = 199.453434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.367798 # Actual altitude: 53.367798 # Commanded vehicle depth:199.453434 # Seafloor depth:-249.698364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.67; MB_Bottom_Detect_Filter_Max_Range = 213.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 274 # Segment length 100.063632 meters # Minimum depth: 246.479912 meters looking forward 100.000000 meters along route # Maximum depth: 250.230138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 196.479912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790626; longitude = -121.834348; captureRadius = 10; duration = 100; initialDepth = 194.286050; finalDepth = 196.479912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.402565 # Actual altitude: 53.402565 # Commanded vehicle depth:196.479912 # Seafloor depth:-249.882477 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.68; MB_Bottom_Detect_Filter_Max_Range = 213.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 273 # Segment length 100.063632 meters # Minimum depth: 244.286050 meters looking forward 100.000000 meters along route # Maximum depth: 250.230138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 194.286050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790207; longitude = -121.833337; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 187.409014; finalDepth = 194.286050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.402565 # Actual altitude: 53.402565 # Commanded vehicle depth:194.28605 # Seafloor depth:-246.495502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.68; MB_Bottom_Detect_Filter_Max_Range = 213.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 273 # Segment length 100.063632 meters # Minimum depth: 237.409014 meters looking forward 100.000000 meters along route # Maximum depth: 244.194670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.409014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790116; longitude = -121.833115; captureRadius = 10; duration = 100; initialDepth = 187.176490; finalDepth = 187.409014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.785656 # Actual altitude: 56.785656 # Commanded vehicle depth:187.409014 # Seafloor depth:-244.194670 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.36; MB_Bottom_Detect_Filter_Max_Range = 227.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 272 # Segment length 100.063632 meters # Minimum depth: 237.176490 meters looking forward 100.000000 meters along route # Maximum depth: 243.189077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.176490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789703; longitude = -121.832105; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 180.849250; finalDepth = 187.176490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.785656 # Actual altitude: 56.785656 # Commanded vehicle depth:187.17649 # Seafloor depth:-237.532841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.36; MB_Bottom_Detect_Filter_Max_Range = 227.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 272 # Segment length 100.063632 meters # Minimum depth: 230.849250 meters looking forward 100.000000 meters along route # Maximum depth: 237.102466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.849250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789669; longitude = -121.831987; captureRadius = 10; duration = 100; initialDepth = 180.849250; finalDepth = 180.849250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.253216 # Actual altitude: 56.253216 # Commanded vehicle depth:180.84925 # Seafloor depth:-237.102466 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.25; MB_Bottom_Detect_Filter_Max_Range = 225.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 271 # Segment length 100.063632 meters # Minimum depth: 230.849250 meters looking forward 100.000000 meters along route # Maximum depth: 234.898288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.849250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789348; longitude = -121.830890; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 182.420002; finalDepth = 180.849250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.253216 # Actual altitude: 56.253216 # Commanded vehicle depth:180.84925 # Seafloor depth:-232.443066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.25; MB_Bottom_Detect_Filter_Max_Range = 225.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 271 # Segment length 100.063632 meters # Minimum depth: 232.420002 meters looking forward 100.000000 meters along route # Maximum depth: 233.805802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.420002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789366; longitude = -121.830538; captureRadius = 10; duration = 100; initialDepth = 181.300049; finalDepth = 182.420002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.593816 # Actual altitude: 51.593816 # Commanded vehicle depth:182.420002 # Seafloor depth:-232.919770 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.32; MB_Bottom_Detect_Filter_Max_Range = 206.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 270 # Segment length 100.063632 meters # Minimum depth: 231.300049 meters looking forward 100.000000 meters along route # Maximum depth: 235.458377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 181.300049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789423; longitude = -121.829415; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 179.812022; finalDepth = 181.300049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.036167 # Actual altitude: 52.036167 # Commanded vehicle depth:181.300049 # Seafloor depth:-233.336216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.41; MB_Bottom_Detect_Filter_Max_Range = 208.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 270 # Segment length 100.063632 meters # Minimum depth: 229.812022 meters looking forward 100.000000 meters along route # Maximum depth: 232.825759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.812022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789554; longitude = -121.829026; captureRadius = 10; duration = 100; initialDepth = 179.450381; finalDepth = 179.812022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.036167 # Actual altitude: 52.036167 # Commanded vehicle depth:179.812022 # Seafloor depth:-231.642758 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.41; MB_Bottom_Detect_Filter_Max_Range = 208.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 269 # Segment length 100.063632 meters # Minimum depth: 229.450381 meters looking forward 100.000000 meters along route # Maximum depth: 232.825759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.450381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789908; longitude = -121.827976; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 177.060195; finalDepth = 179.450381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.830736 # Actual altitude: 51.830736 # Commanded vehicle depth:179.450381 # Seafloor depth:-230.008591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.37; MB_Bottom_Detect_Filter_Max_Range = 207.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 269 # Segment length 100.063632 meters # Minimum depth: 227.060195 meters looking forward 100.000000 meters along route # Maximum depth: 229.815482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.060195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790093; longitude = -121.827625; captureRadius = 10; duration = 100; initialDepth = 176.959850; finalDepth = 177.060195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.755287 # Actual altitude: 52.755287 # Commanded vehicle depth:177.060195 # Seafloor depth:-229.815482 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.55; MB_Bottom_Detect_Filter_Max_Range = 211.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 268 # Segment length 100.063632 meters # Minimum depth: 226.959850 meters looking forward 100.000000 meters along route # Maximum depth: 229.475290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.959850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790599; longitude = -121.826669; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 175.100184; finalDepth = 176.959850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.755287 # Actual altitude: 52.755287 # Commanded vehicle depth:176.95985 # Seafloor depth:-226.959850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.55; MB_Bottom_Detect_Filter_Max_Range = 211.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 268 # Segment length 100.063632 meters # Minimum depth: 225.100184 meters looking forward 100.000000 meters along route # Maximum depth: 227.358853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.100184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790628; longitude = -121.826617; captureRadius = 10; duration = 100; initialDepth = 174.385737; finalDepth = 175.100184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.994831 # Actual altitude: 51.994831 # Commanded vehicle depth:175.100184 # Seafloor depth:-227.095015 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.40; MB_Bottom_Detect_Filter_Max_Range = 207.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 267 # Segment length 100.063632 meters # Minimum depth: 224.385737 meters looking forward 100.000000 meters along route # Maximum depth: 227.042418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.385737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791159; longitude = -121.825660; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 171.125025; finalDepth = 174.385737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.994831 # Actual altitude: 51.994831 # Commanded vehicle depth:174.385737 # Seafloor depth:-224.878403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.40; MB_Bottom_Detect_Filter_Max_Range = 207.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 267 # Segment length 100.063632 meters # Minimum depth: 221.125025 meters looking forward 100.000000 meters along route # Maximum depth: 224.435303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.125025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791291; longitude = -121.825480; captureRadius = 10; duration = 100; initialDepth = 166.285963; finalDepth = 171.125025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.236228 # Actual altitude: 53.236228 # Commanded vehicle depth:171.125025 # Seafloor depth:-224.361253 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.65; MB_Bottom_Detect_Filter_Max_Range = 212.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 266 # Segment length 100.063632 meters # Minimum depth: 216.285963 meters looking forward 100.000000 meters along route # Maximum depth: 222.160655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.285963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791925; longitude = -121.824614; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 165.871860; finalDepth = 166.285963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.428816 # Actual altitude: 55.428816 # Commanded vehicle depth:166.285963 # Seafloor depth:-221.714779 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.09; MB_Bottom_Detect_Filter_Max_Range = 221.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 265 # Segment length 100.063632 meters # Minimum depth: 215.871860 meters looking forward 100.000000 meters along route # Maximum depth: 222.057989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.871860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792485; longitude = -121.823885; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 165.126054; finalDepth = 165.871860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.428816 # Actual altitude: 55.428816 # Commanded vehicle depth:165.87186 # Seafloor depth:-216.129261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.09; MB_Bottom_Detect_Filter_Max_Range = 221.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 265 # Segment length 100.063632 meters # Minimum depth: 215.126054 meters looking forward 100.000000 meters along route # Maximum depth: 216.589809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.126054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792635; longitude = -121.823704; captureRadius = 10; duration = 100; initialDepth = 164.866344; finalDepth = 165.126054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.52478 # Actual altitude: 50.52478 # Commanded vehicle depth:165.126054 # Seafloor depth:-215.650834 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.10; MB_Bottom_Detect_Filter_Max_Range = 202.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 264 # Segment length 100.063632 meters # Minimum depth: 214.866344 meters looking forward 100.000000 meters along route # Maximum depth: 216.589809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.866344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793288; longitude = -121.822914; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 160.718678; finalDepth = 164.866344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.52478 # Actual altitude: 50.52478 # Commanded vehicle depth:164.866344 # Seafloor depth:-215.188606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.10; MB_Bottom_Detect_Filter_Max_Range = 202.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 264 # Segment length 100.063632 meters # Minimum depth: 210.718678 meters looking forward 100.000000 meters along route # Maximum depth: 215.364477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.718678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793417; longitude = -121.822864; captureRadius = 10; duration = 100; initialDepth = 160.718678; finalDepth = 160.718678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.253901 # Actual altitude: 54.253901 # Commanded vehicle depth:160.718678 # Seafloor depth:-214.972579 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.85; MB_Bottom_Detect_Filter_Max_Range = 217.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 263 # Segment length 100.063632 meters # Minimum depth: 210.718678 meters looking forward 100.000000 meters along route # Maximum depth: 215.070635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.718678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794297; longitude = -121.822522; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 156.836669; finalDepth = 160.718678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.253901 # Actual altitude: 54.253901 # Commanded vehicle depth:160.718678 # Seafloor depth:-210.773357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.85; MB_Bottom_Detect_Filter_Max_Range = 217.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 263 # Segment length 100.063632 meters # Minimum depth: 206.836669 meters looking forward 100.000000 meters along route # Maximum depth: 210.904131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.836669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794355; longitude = -121.822510; captureRadius = 10; duration = 100; initialDepth = 156.836669; finalDepth = 156.836669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.067462 # Actual altitude: 54.067462 # Commanded vehicle depth:156.836669 # Seafloor depth:-210.904131 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.81; MB_Bottom_Detect_Filter_Max_Range = 216.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 262 # Segment length 100.063632 meters # Minimum depth: 206.836669 meters looking forward 100.000000 meters along route # Maximum depth: 210.044903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.836669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795286; longitude = -121.822316; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 154.311239; finalDepth = 156.836669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.067462 # Actual altitude: 54.067462 # Commanded vehicle depth:156.836669 # Seafloor depth:-206.872231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.81; MB_Bottom_Detect_Filter_Max_Range = 216.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 262 # Segment length 100.063632 meters # Minimum depth: 204.311239 meters looking forward 100.000000 meters along route # Maximum depth: 207.127461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.311239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795391; longitude = -121.822310; captureRadius = 10; duration = 100; initialDepth = 152.762036; finalDepth = 154.311239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.816222 # Actual altitude: 52.816222 # Commanded vehicle depth:154.311239 # Seafloor depth:-207.127461 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.56; MB_Bottom_Detect_Filter_Max_Range = 211.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 261 # Segment length 100.063632 meters # Minimum depth: 202.762036 meters looking forward 100.000000 meters along route # Maximum depth: 205.741745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.762036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796295; longitude = -121.822260; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 149.303145; finalDepth = 152.762036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.816222 # Actual altitude: 52.816222 # Commanded vehicle depth:152.762036 # Seafloor depth:-204.215763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.56; MB_Bottom_Detect_Filter_Max_Range = 211.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 261 # Segment length 100.063632 meters # Minimum depth: 199.303145 meters looking forward 100.000000 meters along route # Maximum depth: 202.728287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.303145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796878; longitude = -121.822238; captureRadius = 10; duration = 100; initialDepth = 148.188544; finalDepth = 149.303145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.425142 # Actual altitude: 53.425142 # Commanded vehicle depth:149.303145 # Seafloor depth:-202.728287 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.69; MB_Bottom_Detect_Filter_Max_Range = 213.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 260 # Segment length 100.063632 meters # Minimum depth: 198.188544 meters looking forward 100.000000 meters along route # Maximum depth: 201.072588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 148.188544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797807; longitude = -121.822204; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 143.843413; finalDepth = 148.188544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.425142 # Actual altitude: 53.425142 # Commanded vehicle depth:148.188544 # Seafloor depth:-199.072941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.69; MB_Bottom_Detect_Filter_Max_Range = 213.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 260 # Segment length 100.063632 meters # Minimum depth: 193.843413 meters looking forward 100.000000 meters along route # Maximum depth: 198.099549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.843413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798005; longitude = -121.822201; captureRadius = 10; duration = 100; initialDepth = 139.528107; finalDepth = 143.843413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.256136 # Actual altitude: 54.256136 # Commanded vehicle depth:143.843413 # Seafloor depth:-198.099549 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.85; MB_Bottom_Detect_Filter_Max_Range = 217.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 259 # Segment length 100.063632 meters # Minimum depth: 189.528107 meters looking forward 100.000000 meters along route # Maximum depth: 193.843413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.528107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798946; longitude = -121.822186; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 138.463167; finalDepth = 139.528107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.256136 # Actual altitude: 54.256136 # Commanded vehicle depth:139.528107 # Seafloor depth:-193.526016 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.85; MB_Bottom_Detect_Filter_Max_Range = 217.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 258 # Segment length 100.063632 meters # Minimum depth: 188.463167 meters looking forward 100.000000 meters along route # Maximum depth: 191.520104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.463167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799731; longitude = -121.821905; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 138.189432; finalDepth = 138.463167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.997909 # Actual altitude: 53.997909 # Commanded vehicle depth:138.463167 # Seafloor depth:-191.419003 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.80; MB_Bottom_Detect_Filter_Max_Range = 215.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 257 # Segment length 100.063632 meters # Minimum depth: 188.189432 meters looking forward 100.000000 meters along route # Maximum depth: 191.071110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.189432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799843; longitude = -121.820897; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 134.636871; finalDepth = 138.189432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.955836 # Actual altitude: 52.955836 # Commanded vehicle depth:138.189432 # Seafloor depth:-188.396774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.59; MB_Bottom_Detect_Filter_Max_Range = 211.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 257 # Segment length 100.063632 meters # Minimum depth: 184.636871 meters looking forward 100.000000 meters along route # Maximum depth: 187.559299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.636871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799788; longitude = -121.820735; captureRadius = 10; duration = 100; initialDepth = 130.088480; finalDepth = 134.636871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.624364 # Actual altitude: 52.624364 # Commanded vehicle depth:134.636871 # Seafloor depth:-187.261235 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.52; MB_Bottom_Detect_Filter_Max_Range = 210.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 256 # Segment length 100.063632 meters # Minimum depth: 180.088480 meters looking forward 100.000000 meters along route # Maximum depth: 185.064492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 130.088480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799432; longitude = -121.819682; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 130.088480; finalDepth = 130.088480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.225931 # Actual altitude: 54.225931 # Commanded vehicle depth:130.08848 # Seafloor depth:-184.314411 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.85; MB_Bottom_Detect_Filter_Max_Range = 216.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 255 # Segment length 100.063632 meters # Minimum depth: 180.088480 meters looking forward 100.000000 meters along route # Maximum depth: 184.642846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 130.088480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799114; longitude = -121.818767; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 128.037048; finalDepth = 130.088480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.225931 # Actual altitude: 54.225931 # Commanded vehicle depth:130.08848 # Seafloor depth:-180.437801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.85; MB_Bottom_Detect_Filter_Max_Range = 216.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 255 # Segment length 100.063632 meters # Minimum depth: 178.037048 meters looking forward 100.000000 meters along route # Maximum depth: 180.448007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 128.037048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799100; longitude = -121.818718; captureRadius = 10; duration = 100; initialDepth = 125.471147; finalDepth = 128.037048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.410959 # Actual altitude: 52.410959 # Commanded vehicle depth:128.037048 # Seafloor depth:-180.448007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.48; MB_Bottom_Detect_Filter_Max_Range = 209.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 255 # Segment length 100.063632 meters # Minimum depth: 175.471147 meters looking forward 100.000000 meters along route # Maximum depth: 178.646686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.471147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798796; longitude = -121.817654; captureRadius = 10; duration = 100; initialDepth = 125.471147; finalDepth = 125.471147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.410959 # Actual altitude: 52.410959 # Commanded vehicle depth:125.471147 # Seafloor depth:-177.826525 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.48; MB_Bottom_Detect_Filter_Max_Range = 209.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 254 # Segment length 100.063632 meters # Minimum depth: 175.471147 meters looking forward 100.000000 meters along route # Maximum depth: 178.646686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.471147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798479; longitude = -121.816544; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 120.939607; finalDepth = 125.471147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.355378 # Actual altitude: 52.355378 # Commanded vehicle depth:125.471147 # Seafloor depth:-175.677921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.47; MB_Bottom_Detect_Filter_Max_Range = 209.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 254 # Segment length 100.063632 meters # Minimum depth: 170.939607 meters looking forward 100.000000 meters along route # Maximum depth: 175.733222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.939607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798470; longitude = -121.816422; captureRadius = 10; duration = 100; initialDepth = 119.961689; finalDepth = 120.939607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.793615 # Actual altitude: 54.793615 # Commanded vehicle depth:120.939607 # Seafloor depth:-175.733222 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.96; MB_Bottom_Detect_Filter_Max_Range = 219.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 253 # Segment length 100.063632 meters # Minimum depth: 169.961689 meters looking forward 100.000000 meters along route # Maximum depth: 174.930592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.961689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798386; longitude = -121.815293; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 111.990640; finalDepth = 119.961689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.793615 # Actual altitude: 54.793615 # Commanded vehicle depth:119.961689 # Seafloor depth:-170.969269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.96; MB_Bottom_Detect_Filter_Max_Range = 219.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 253 # Segment length 100.063632 meters # Minimum depth: 161.990640 meters looking forward 100.000000 meters along route # Maximum depth: 170.116639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.990640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798420; longitude = -121.815189; captureRadius = 10; duration = 100; initialDepth = 111.872780; finalDepth = 111.990640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.011897 # Actual altitude: 58.011897 # Commanded vehicle depth:111.99064 # Seafloor depth:-170.002537 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.60; MB_Bottom_Detect_Filter_Max_Range = 232.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 252 # Segment length 100.063632 meters # Minimum depth: 161.872780 meters looking forward 100.000000 meters along route # Maximum depth: 165.512996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.872780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798760; longitude = -121.814134; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 108.207865; finalDepth = 111.872780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.011897 # Actual altitude: 58.011897 # Commanded vehicle depth:111.87278 # Seafloor depth:-162.056572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.60; MB_Bottom_Detect_Filter_Max_Range = 232.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 252 # Segment length 100.063632 meters # Minimum depth: 158.207865 meters looking forward 100.000000 meters along route # Maximum depth: 161.761567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.207865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799093; longitude = -121.813901; captureRadius = 10; duration = 100; initialDepth = 108.192113; finalDepth = 108.207865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.553702 # Actual altitude: 53.553702 # Commanded vehicle depth:108.207865 # Seafloor depth:-161.761567 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.71; MB_Bottom_Detect_Filter_Max_Range = 214.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 251 # Segment length 100.063632 meters # Minimum depth: 158.192113 meters looking forward 100.000000 meters along route # Maximum depth: 160.733727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.192113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799880; longitude = -121.813350; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 106.080725; finalDepth = 108.192113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.553702 # Actual altitude: 53.553702 # Commanded vehicle depth:108.192113 # Seafloor depth:-159.591278 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.71; MB_Bottom_Detect_Filter_Max_Range = 214.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 250 # Segment length 100.063632 meters # Minimum depth: 156.080725 meters looking forward 100.000000 meters along route # Maximum depth: 160.733727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.080725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800384; longitude = -121.812846; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 97.086843; finalDepth = 106.080725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.399165 # Actual altitude: 51.399165 # Commanded vehicle depth:106.080725 # Seafloor depth:-156.926903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.28; MB_Bottom_Detect_Filter_Max_Range = 205.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 250 # Segment length 100.063632 meters # Minimum depth: 147.086843 meters looking forward 100.000000 meters along route # Maximum depth: 157.630033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.086843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800430; longitude = -121.812780; captureRadius = 10; duration = 100; initialDepth = 96.589974; finalDepth = 97.086843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.54319 # Actual altitude: 60.54319 # Commanded vehicle depth:97.086843 # Seafloor depth:-157.630033 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.11; MB_Bottom_Detect_Filter_Max_Range = 242.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 249 # Segment length 100.063632 meters # Minimum depth: 146.589974 meters looking forward 100.000000 meters along route # Maximum depth: 148.904306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.589974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801019; longitude = -121.811930; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 91.438432; finalDepth = 96.589974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.54319 # Actual altitude: 60.54319 # Commanded vehicle depth:96.589974 # Seafloor depth:-148.342472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.11; MB_Bottom_Detect_Filter_Max_Range = 242.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 249 # Segment length 100.063632 meters # Minimum depth: 141.438432 meters looking forward 100.000000 meters along route # Maximum depth: 152.498949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.438432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801306; longitude = -121.811268; captureRadius = 10; duration = 100; initialDepth = 91.438432; finalDepth = 91.438432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.28746 # Actual altitude: 55.28746 # Commanded vehicle depth:91.438432 # Seafloor depth:-146.725892 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.06; MB_Bottom_Detect_Filter_Max_Range = 221.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 248 # Segment length 100.063632 meters # Minimum depth: 141.438432 meters looking forward 100.000000 meters along route # Maximum depth: 152.498949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.438432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801747; longitude = -121.810249; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 94.358613; finalDepth = 91.438432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.975745 # Actual altitude: 59.975745 # Commanded vehicle depth:91.438432 # Seafloor depth:-151.414177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.00; MB_Bottom_Detect_Filter_Max_Range = 239.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 248 # Segment length 100.063632 meters # Minimum depth: 144.358613 meters looking forward 100.000000 meters along route # Maximum depth: 150.167203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.358613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801891; longitude = -121.809867; captureRadius = 10; duration = 100; initialDepth = 89.882212; finalDepth = 94.358613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.975745 # Actual altitude: 59.975745 # Commanded vehicle depth:94.358613 # Seafloor depth:-149.975773 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.00; MB_Bottom_Detect_Filter_Max_Range = 239.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 247 # Segment length 100.063632 meters # Minimum depth: 139.882212 meters looking forward 100.000000 meters along route # Maximum depth: 145.518359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.882212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802289; longitude = -121.808811; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 78.806948; finalDepth = 89.882212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.61716 # Actual altitude: 55.61716 # Commanded vehicle depth:89.882212 # Seafloor depth:-143.905285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.12; MB_Bottom_Detect_Filter_Max_Range = 222.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 247 # Segment length 100.063632 meters # Minimum depth: 128.806948 meters looking forward 100.000000 meters along route # Maximum depth: 139.831815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.806948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802496; longitude = -121.807907; captureRadius = 10; duration = 100; initialDepth = 76.865175; finalDepth = 78.806948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.845475 # Actual altitude: 60.845475 # Commanded vehicle depth:78.806948 # Seafloor depth:-139.652423 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.17; MB_Bottom_Detect_Filter_Max_Range = 243.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 246 # Segment length 100.063632 meters # Minimum depth: 126.865175 meters looking forward 100.000000 meters along route # Maximum depth: 132.629209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.865175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802756; longitude = -121.806775; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 74.016736; finalDepth = 76.865175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.845475 # Actual altitude: 60.845475 # Commanded vehicle depth:76.865175 # Seafloor depth:-128.444338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.17; MB_Bottom_Detect_Filter_Max_Range = 243.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 246 # Segment length 100.063632 meters # Minimum depth: 124.016736 meters looking forward 100.000000 meters along route # Maximum depth: 129.165101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.016736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802843; longitude = -121.806058; captureRadius = 10; duration = 100; initialDepth = 69.023626; finalDepth = 74.016736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.148365 # Actual altitude: 55.148365 # Commanded vehicle depth:74.016736 # Seafloor depth:-129.165101 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.03; MB_Bottom_Detect_Filter_Max_Range = 220.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 245 # Segment length 100.063632 meters # Minimum depth: 119.023626 meters looking forward 100.000000 meters along route # Maximum depth: 124.497241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.023626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802980; longitude = -121.804925; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 63.161605; finalDepth = 69.023626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.369063 # Actual altitude: 55.369063 # Commanded vehicle depth:69.023626 # Seafloor depth:-124.392689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.07; MB_Bottom_Detect_Filter_Max_Range = 221.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 245 # Segment length 100.063632 meters # Minimum depth: 113.161605 meters looking forward 100.000000 meters along route # Maximum depth: 118.950501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.161605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803056; longitude = -121.803985; captureRadius = 10; duration = 100; initialDepth = 62.746939; finalDepth = 63.161605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.788896 # Actual altitude: 55.788896 # Commanded vehicle depth:63.161605 # Seafloor depth:-118.950501 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.16; MB_Bottom_Detect_Filter_Max_Range = 223.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 244 # Segment length 100.063632 meters # Minimum depth: 112.746939 meters looking forward 100.000000 meters along route # Maximum depth: 118.072594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.746939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803148; longitude = -121.802852; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 62.813841; finalDepth = 62.746939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.788896 # Actual altitude: 55.788896 # Commanded vehicle depth:62.746939 # Seafloor depth:-112.746939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.16; MB_Bottom_Detect_Filter_Max_Range = 223.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 244 # Segment length 100.063632 meters # Minimum depth: 112.813841 meters looking forward 100.000000 meters along route # Maximum depth: 116.266517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.813841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803151; longitude = -121.802753; captureRadius = 10; duration = 100; initialDepth = 62.813841; finalDepth = 62.813841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.320162 # Actual altitude: 50.320162 # Commanded vehicle depth:62.813841 # Seafloor depth:-113.134003 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.06; MB_Bottom_Detect_Filter_Max_Range = 201.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 243 # Segment length 100.063632 meters # Minimum depth: 112.813841 meters looking forward 100.000000 meters along route # Maximum depth: 116.266517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.813841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803185; longitude = -121.801582; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 34.272393; finalDepth = 62.813841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.409359 # Actual altitude: 52.409359 # Commanded vehicle depth:62.813841 # Seafloor depth:-115.223200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.48; MB_Bottom_Detect_Filter_Max_Range = 209.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 243 # Segment length 100.063632 meters # Minimum depth: 84.272393 meters looking forward 100.000000 meters along route # Maximum depth: 114.294298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1004.649142 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 34.272393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803232; longitude = -121.801595; captureRadius = 10; duration = 100; initialDepth = 34.272393; finalDepth = 34.272393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.021905 # Actual altitude: 80.021905 # Commanded vehicle depth:34.272393 # Seafloor depth:-114.294298 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 320.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 320.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # Ascend, gps, descend after reaching waypoint 242 at end of line 242 ####################################################### # Turn on power to sonars and restart logging on the PLC behavior reson { Log_Mode = 1; duration = 6; MB_Power = 220; SBP_Power = 100.0; LoSS_Power = 100.0; } ####################################################### # Acoustic update - sent status ping before resuming logging # behavior acousticUpdate { duration = 2; dummy = 1; } # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 167.085101; 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 = 167.085101; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # Set sonar parameters # Commanded altitude: 55.40174 # Sonar parameter altitude: 55.40174 # Commanded vehicle depth:73.999139 # Seafloor depth:-129.400879 # 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 = 221.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.08; MB_Bottom_Detect_Filter_Max_Range = 221.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; }