# 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_2v4.rte # Mission File: UpperCanyonLong_2v4.cfg # Distance: 32714.389224 (m) # Estimated Time: 24535 (s) 6.816 (hr) # Abort Time: 31896 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1131 (s) # Way Points: 63 # Route Points: 456 # 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: 1381.138916 (m) # Abort Vehicle Depth: 1406.138916 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 75 (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 -121.969334 36.732456 -119.603790 0.000000 3 # 1 -121.986527 36.734940 -510.415810 1559.813867 1 # 2 -122.003598 36.733597 -857.264974 3091.440825 1 # 3 -122.011572 36.731464 -1202.268636 3841.711408 1 # 4 -122.012524 36.728986 -1190.068359 4129.510238 1 # 5 -122.008379 36.725742 -1328.219889 4645.833583 1 # 6 -122.012580 36.721821 -1404.013672 5220.232260 3 # 7 -122.015418 36.723684 -1387.704427 5547.257169 1 # 8 -122.018238 36.729211 -1351.427165 6210.156824 1 # 9 -122.021020 36.730939 -1328.463379 6523.923533 1 # 10 -122.021636 36.731930 -1318.965413 6646.899622 1 # 11 -122.019358 36.732636 -1303.447103 6864.878339 1 # 12 -122.017118 36.734033 -1294.743245 7117.959618 1 # 13 -122.020964 36.741122 -1264.760417 7976.199548 1 # 14 -122.027257 36.745929 -1224.079590 8750.791159 1 # 15 -122.032187 36.751562 -1204.819336 9515.097637 1 # 16 -122.036948 36.758321 -1172.247396 10377.051284 1 # 17 -122.039450 36.761130 -1161.227539 10760.437851 1 # 18 -122.040795 36.765726 -1139.462646 11284.272358 1 # 19 -122.040085 36.771614 -1126.479167 11940.545577 1 # 20 -122.038237 36.776661 -1090.696940 12524.242311 1 # 21 -122.031626 36.781257 -1074.375244 13303.977480 1 # 22 -122.027966 36.783570 -1053.390951 13719.332207 1 # 23 -122.024773 36.784426 -1050.206706 14019.680557 1 # 24 -122.021767 36.784456 -1038.052734 14287.971150 1 # 25 -122.017958 36.783826 -1023.732666 14635.022467 1 # 26 -122.013252 36.781122 -1009.439290 15151.058811 4 # 27 -122.014858 36.779289 -1004.076823 15399.788614 3 # 28 -122.019228 36.781813 -1018.764730 15879.804560 1 # 29 -122.023149 36.782984 -1023.501953 16253.090667 1 # 30 -122.026510 36.781497 -1034.177897 16595.402763 1 # 31 -122.030599 36.778929 -1069.289062 17058.405427 1 # 32 -122.035809 36.774964 -1098.290365 17698.477460 1 # 33 -122.037172 36.771839 -1093.317383 18065.809516 1 # 34 -122.038741 36.765395 -1144.397298 18794.254185 1 # 35 -122.034707 36.759042 -1174.324463 19585.740343 1 # 36 -122.032000 36.756353 -1190.449707 19969.647477 1 # 37 -122.029264 36.752747 -1202.981110 20438.367667 1 # 38 -122.024664 36.747554 -1231.160065 21145.857689 1 # 39 -122.019470 36.742508 -1260.939484 21872.778022 1 # 40 -122.015866 36.737653 -1276.214193 22500.196070 1 # 41 -122.013794 36.733282 -1282.838949 23019.222650 1 # 42 -122.017939 36.730758 -1296.804199 23483.326420 4 # 43 -122.019022 36.731599 -1311.238770 23617.716766 3 # 44 -122.015586 36.733687 -1287.736165 24002.132920 1 # 45 -122.016931 36.736166 -1286.158203 24302.146456 1 # 46 -122.020087 36.741648 -1261.403076 24972.461379 1 # 47 -122.026118 36.746800 -1228.311523 25757.730578 1 # 48 -122.030730 36.752193 -1208.433919 26483.960653 1 # 49 -122.035884 36.758771 -1172.393229 27346.721768 1 # 50 -122.037994 36.761806 -1161.429850 27732.437128 1 # 51 -122.039842 36.765546 -1147.536377 28178.964405 1 # 52 -122.038461 36.772786 -1115.399089 28991.560065 1 # 53 -122.037060 36.775760 -1100.325033 29344.378655 1 # 54 -122.029367 36.781317 -1057.573730 30267.143826 1 # 55 -122.026024 36.783510 -1054.468262 30652.052394 1 # 56 -122.023317 36.783796 -1046.103353 30895.729929 1 # 57 -122.020143 36.783375 -1031.248210 31182.816396 1 # 58 -122.016165 36.781257 -1020.975911 31608.465953 1 # 59 -122.010339 36.780221 -1000.899333 32140.931368 1 # 60 -122.008472 36.779830 -988.690186 32313.108834 1 # 61 -122.006978 36.778283 -964.764893 32530.435279 1 # 62 -122.005466 36.777157 -942.976074 32714.389224 4 # # A total of 456 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 24000; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1381.138916; abortDepth = 1406.138916; 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 = 1131; 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 62 # Segment length 75.446635 meters # Minimum depth: 942.976074 meters looking forward 100.000000 meters along route # Maximum depth: 944.945770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.976074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777157; longitude = -122.005466; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 893.888760; finalDepth = 892.976074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:892.976074 # Seafloor depth:-942.976074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 75.446635 meters # Minimum depth: 943.888760 meters looking forward 100.000000 meters along route # Maximum depth: 956.871602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 893.888760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777337; longitude = -122.005708; captureRadius = 10; duration = 75; initialDepth = 905.171582; finalDepth = 893.888760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.204404 # Actual altitude: 51.204404 # Commanded vehicle depth:893.88876 # Seafloor depth:-945.093164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.82; 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 = 204.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 75.446635 meters # Minimum depth: 955.171582 meters looking forward 100.000000 meters along route # Maximum depth: 964.599556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.171582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777817; longitude = -122.006353; captureRadius = 10; duration = 75; initialDepth = 911.224551; finalDepth = 905.171582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.976764 # Actual altitude: 51.976764 # Commanded vehicle depth:905.171582 # Seafloor depth:-957.148346 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.91; 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 = 207.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 75.446635 meters # Minimum depth: 961.224551 meters looking forward 100.000000 meters along route # Maximum depth: 970.688809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.224551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778283; longitude = -122.006978; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 918.830277; finalDepth = 911.224551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.540342 # Actual altitude: 53.540342 # Commanded vehicle depth:911.224551 # Seafloor depth:-964.764893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.16; 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 = 214.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 75.446635 meters # Minimum depth: 968.830277 meters looking forward 100.000000 meters along route # Maximum depth: 983.987453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.830277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778719; longitude = -122.007399; captureRadius = 10; duration = 75; initialDepth = 930.184789; finalDepth = 918.830277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.540342 # Actual altitude: 53.540342 # Commanded vehicle depth:918.830277 # Seafloor depth:-970.925921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.16; 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 = 214.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 75.446635 meters # Minimum depth: 980.184789 meters looking forward 100.000000 meters along route # Maximum depth: 988.662424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.184789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779289; longitude = -122.007949; captureRadius = 10; duration = 75; initialDepth = 933.987453; finalDepth = 930.184789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.380265 # Actual altitude: 54.380265 # Commanded vehicle depth:930.184789 # Seafloor depth:-984.565054 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.52; 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 = 217.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 75.446635 meters # Minimum depth: 983.987453 meters looking forward 100.000000 meters along route # Maximum depth: 989.526011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.987453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779830; longitude = -122.008472; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 938.662424; finalDepth = 933.987453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7027330000001 # Actual altitude: 54.7027330000001 # Commanded vehicle depth:933.987453 # Seafloor depth:-988.690186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.81; 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 = 218.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 75.446635 meters # Minimum depth: 988.662424 meters looking forward 100.000000 meters along route # Maximum depth: 993.339818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.662424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779873; longitude = -122.008677; captureRadius = 10; duration = 75; initialDepth = 942.218418; finalDepth = 938.662424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7027330000001 # Actual altitude: 54.7027330000001 # Commanded vehicle depth:938.662424 # Seafloor depth:-989.785792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.81; 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 = 218.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 75.446635 meters # Minimum depth: 992.218418 meters looking forward 100.000000 meters along route # Maximum depth: 1000.496880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.218418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780049; longitude = -122.009518; captureRadius = 10; duration = 75; initialDepth = 948.152818; finalDepth = 942.218418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.500454 # Actual altitude: 51.500454 # Commanded vehicle depth:942.218418 # Seafloor depth:-993.718872 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.00; 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 = 206.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 75.446635 meters # Minimum depth: 998.152818 meters looking forward 100.000000 meters along route # Maximum depth: 1004.562004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.152818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780221; longitude = -122.010339; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 954.275684; finalDepth = 948.152818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7465149999999 # Actual altitude: 52.7465149999999 # Commanded vehicle depth:948.152818 # Seafloor depth:-1000.899333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.99; 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 = 210.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.446635 meters # Minimum depth: 1004.275684 meters looking forward 100.000000 meters along route # Maximum depth: 1009.800367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.275684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780364; longitude = -122.011142; captureRadius = 10; duration = 75; initialDepth = 959.160361; finalDepth = 954.275684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7465149999999 # Actual altitude: 52.7465149999999 # Commanded vehicle depth:954.275684 # Seafloor depth:-1004.910996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.99; 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 = 210.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.446635 meters # Minimum depth: 1009.160361 meters looking forward 100.000000 meters along route # Maximum depth: 1011.161028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.160361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780513; longitude = -122.011983; captureRadius = 10; duration = 75; initialDepth = 960.664313; finalDepth = 959.160361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.635312 # Actual altitude: 50.635312 # Commanded vehicle depth:959.160361 # Seafloor depth:-1009.160361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.13; MB_Bottom_Detect_Filter_Max_Range = 202.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.446635 meters # Minimum depth: 1010.664313 meters looking forward 100.000000 meters along route # Maximum depth: 1011.614355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.664313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780662; longitude = -122.012823; captureRadius = 10; duration = 75; initialDepth = 961.532586; finalDepth = 960.664313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.551077 # Actual altitude: 50.551077 # Commanded vehicle depth:960.664313 # Seafloor depth:-1011.215390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.11; MB_Bottom_Detect_Filter_Max_Range = 202.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.446635 meters # Minimum depth: 1011.532586 meters looking forward 100.000000 meters along route # Maximum depth: 1014.863083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.532586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780812; longitude = -122.013663; captureRadius = 10; duration = 75; initialDepth = 963.419088; finalDepth = 961.532586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.551077 # Actual altitude: 50.551077 # Commanded vehicle depth:961.532586 # Seafloor depth:-1011.630015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.11; MB_Bottom_Detect_Filter_Max_Range = 202.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.446635 meters # Minimum depth: 1013.419088 meters looking forward 100.000000 meters along route # Maximum depth: 1018.513043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.419088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780961; longitude = -122.014503; captureRadius = 10; duration = 75; initialDepth = 968.431137; finalDepth = 963.419088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.921077 # Actual altitude: 51.921077 # Commanded vehicle depth:963.419088 # Seafloor depth:-1015.340165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.68; 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 = 207.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.446635 meters # Minimum depth: 1018.431137 meters looking forward 100.000000 meters along route # Maximum depth: 1020.851985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.431137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781111; longitude = -122.015344; captureRadius = 10; duration = 75; initialDepth = 968.535395; finalDepth = 968.431137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.921077 # Actual altitude: 51.921077 # Commanded vehicle depth:968.431137 # Seafloor depth:-1018.432223 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.68; 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 = 207.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 75.446635 meters # Minimum depth: 1018.535395 meters looking forward 100.000000 meters along route # Maximum depth: 1022.263301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.535395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781257; longitude = -122.016165; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 971.831556; finalDepth = 968.535395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.440516 # Actual altitude: 52.440516 # Commanded vehicle depth:968.535395 # Seafloor depth:-1020.975911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.76; 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 = 209.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 75.446635 meters # Minimum depth: 1021.831556 meters looking forward 100.000000 meters along route # Maximum depth: 1024.868562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.831556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781446; longitude = -122.016520; captureRadius = 10; duration = 75; initialDepth = 974.100195; finalDepth = 971.831556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.440516 # Actual altitude: 52.440516 # Commanded vehicle depth:971.831556 # Seafloor depth:-1022.359581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.76; 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 = 209.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 75.446635 meters # Minimum depth: 1024.100195 meters looking forward 100.000000 meters along route # Maximum depth: 1028.210868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.100195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781834; longitude = -122.017248; captureRadius = 10; duration = 75; initialDepth = 977.497791; finalDepth = 974.100195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.810851 # Actual altitude: 50.810851 # Commanded vehicle depth:974.100195 # Seafloor depth:-1024.911046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.16; MB_Bottom_Detect_Filter_Max_Range = 203.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 75.446635 meters # Minimum depth: 1027.497791 meters looking forward 100.000000 meters along route # Maximum depth: 1030.106274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.497791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782233; longitude = -122.017999; captureRadius = 10; duration = 75; initialDepth = 979.884215; finalDepth = 977.497791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8122969999999 # Actual altitude: 50.8122969999999 # Commanded vehicle depth:977.497791 # Seafloor depth:-1028.310088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.16; MB_Bottom_Detect_Filter_Max_Range = 203.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 75.446635 meters # Minimum depth: 1029.884215 meters looking forward 100.000000 meters along route # Maximum depth: 1030.164919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.884215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782609; longitude = -122.018705; captureRadius = 10; duration = 75; initialDepth = 980.031637; finalDepth = 979.884215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8122969999999 # Actual altitude: 50.8122969999999 # Commanded vehicle depth:979.884215 # Seafloor depth:-1029.893388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.16; MB_Bottom_Detect_Filter_Max_Range = 203.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 75.446635 meters # Minimum depth: 1030.031637 meters looking forward 100.000000 meters along route # Maximum depth: 1031.131410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.031637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782999; longitude = -122.019437; captureRadius = 10; duration = 75; initialDepth = 980.093913; finalDepth = 980.031637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1314359999999 # Actual altitude: 50.1314359999999 # Commanded vehicle depth:980.031637 # Seafloor depth:-1030.163073 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.03; MB_Bottom_Detect_Filter_Max_Range = 200.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 75.446635 meters # Minimum depth: 1030.093913 meters looking forward 100.000000 meters along route # Maximum depth: 1033.058011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.093913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783375; longitude = -122.020143; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 982.451970; finalDepth = 980.093913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.154297 # Actual altitude: 51.154297 # Commanded vehicle depth:980.093913 # Seafloor depth:-1031.248210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 204.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 75.446635 meters # Minimum depth: 1032.451970 meters looking forward 100.000000 meters along route # Maximum depth: 1034.643502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.451970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783459; longitude = -122.020777; captureRadius = 10; duration = 75; initialDepth = 984.084063; finalDepth = 982.451970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.154297 # Actual altitude: 51.154297 # Commanded vehicle depth:982.45197 # Seafloor depth:-1033.274927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 204.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 75.446635 meters # Minimum depth: 1034.084063 meters looking forward 100.000000 meters along route # Maximum depth: 1038.752947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.084063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783570; longitude = -122.021618; captureRadius = 10; duration = 75; initialDepth = 987.436330; finalDepth = 984.084063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8229569999999 # Actual altitude: 50.8229569999999 # Commanded vehicle depth:984.084063 # Seafloor depth:-1034.851410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.16; MB_Bottom_Detect_Filter_Max_Range = 203.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 75.446635 meters # Minimum depth: 1037.436330 meters looking forward 100.000000 meters along route # Maximum depth: 1046.019445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.436330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783682; longitude = -122.022458; captureRadius = 10; duration = 75; initialDepth = 988.682996; finalDepth = 987.436330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7270329999999 # Actual altitude: 51.7270329999999 # Commanded vehicle depth:987.43633 # Seafloor depth:-1039.163363 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; 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 to get to end of line 56 # Segment length 75.446635 meters # Minimum depth: 1038.682996 meters looking forward 100.000000 meters along route # Maximum depth: 1046.335180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.682996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783796; longitude = -122.023317; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 992.716273; finalDepth = 988.682996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.420357 # Actual altitude: 57.420357 # Commanded vehicle depth:988.682996 # Seafloor depth:-1046.103353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.48; MB_Bottom_Detect_Filter_Max_Range = 229.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 75.446635 meters # Minimum depth: 1045.699591 meters looking forward 100.000000 meters along route # Maximum depth: 1048.969962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.716273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783780; longitude = -122.023466; captureRadius = 10; duration = 75; initialDepth = 998.045334; finalDepth = 992.716273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.420357 # Actual altitude: 57.420357 # Commanded vehicle depth:992.7162734 # Seafloor depth:-1046.486527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.48; MB_Bottom_Detect_Filter_Max_Range = 229.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 75.446635 meters # Minimum depth: 1048.045334 meters looking forward 100.000000 meters along route # Maximum depth: 1051.970787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.045334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783691; longitude = -122.024307; captureRadius = 10; duration = 75; initialDepth = 1001.512386; finalDepth = 998.045334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7702536000002 # Actual altitude: 53.7702536000002 # Commanded vehicle depth:998.045334 # Seafloor depth:-1049.301983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.08; 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 = 215.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 75.446635 meters # Minimum depth: 1051.512386 meters looking forward 100.000000 meters along route # Maximum depth: 1054.441502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.512386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783603; longitude = -122.025147; captureRadius = 10; duration = 75; initialDepth = 1003.798649; finalDepth = 1001.512386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2566490000002 # Actual altitude: 51.2566490000002 # Commanded vehicle depth:1001.512386 # Seafloor depth:-1052.107773 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.03; 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 = 205.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 75.446635 meters # Minimum depth: 1053.798649 meters looking forward 100.000000 meters along route # Maximum depth: 1054.468262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.798649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783510; longitude = -122.026024; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1003.633653; finalDepth = 1003.798649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.669613 # Actual altitude: 50.669613 # Commanded vehicle depth:1003.798649 # Seafloor depth:-1054.468262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.13; MB_Bottom_Detect_Filter_Max_Range = 202.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 75.446635 meters # Minimum depth: 1053.633653 meters looking forward 100.000000 meters along route # Maximum depth: 1054.151095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.633653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783090; longitude = -122.026666; captureRadius = 10; duration = 75; initialDepth = 1003.858424; finalDepth = 1003.633653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.669613 # Actual altitude: 50.669613 # Commanded vehicle depth:1003.633653 # Seafloor depth:-1053.782245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.13; MB_Bottom_Detect_Filter_Max_Range = 202.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 75.446635 meters # Minimum depth: 1053.858424 meters looking forward 100.000000 meters along route # Maximum depth: 1055.102244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.858424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782639; longitude = -122.027352; captureRadius = 10; duration = 75; initialDepth = 1004.926024; finalDepth = 1003.858424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.148592 # Actual altitude: 50.148592 # Commanded vehicle depth:1003.858424 # Seafloor depth:-1053.989275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.03; MB_Bottom_Detect_Filter_Max_Range = 200.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 75.446635 meters # Minimum depth: 1054.926024 meters looking forward 100.000000 meters along route # Maximum depth: 1059.568459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.926024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782212; longitude = -122.028004; captureRadius = 10; duration = 75; initialDepth = 1007.125834; finalDepth = 1004.926024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1308509999999 # Actual altitude: 50.1308509999999 # Commanded vehicle depth:1004.926024 # Seafloor depth:-1054.943880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.03; MB_Bottom_Detect_Filter_Max_Range = 200.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 75.446635 meters # Minimum depth: 1057.125834 meters looking forward 100.000000 meters along route # Maximum depth: 1061.083795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.125834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781770; longitude = -122.028676; captureRadius = 10; duration = 75; initialDepth = 1002.003861; finalDepth = 1007.125834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6650850000001 # Actual altitude: 52.6650850000001 # Commanded vehicle depth:1007.125834 # Seafloor depth:-1059.790919 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.66; 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 = 210.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 75.446635 meters # Minimum depth: 1052.003861 meters looking forward 100.000000 meters along route # Maximum depth: 1060.386129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.003861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781317; longitude = -122.029367; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1002.003861; finalDepth = 1002.003861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5698690000002 # Actual altitude: 55.5698690000002 # Commanded vehicle depth:1002.003861 # Seafloor depth:-1057.573730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.11; MB_Bottom_Detect_Filter_Max_Range = 222.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.446635 meters # Minimum depth: 1052.003861 meters looking forward 100.000000 meters along route # Maximum depth: 1072.735888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.003861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780926; longitude = -122.029908; captureRadius = 10; duration = 75; initialDepth = 1018.272863; finalDepth = 1002.003861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5698690000002 # Actual altitude: 55.5698690000002 # Commanded vehicle depth:1002.003861 # Seafloor depth:-1052.462895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.11; MB_Bottom_Detect_Filter_Max_Range = 222.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.446635 meters # Minimum depth: 1068.272863 meters looking forward 100.000000 meters along route # Maximum depth: 1079.724670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.272863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780440; longitude = -122.030581; captureRadius = 10; duration = 75; initialDepth = 1029.215846; finalDepth = 1018.272863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5266670000001 # Actual altitude: 55.5266670000001 # Commanded vehicle depth:1018.272863 # Seafloor depth:-1073.799530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.11; MB_Bottom_Detect_Filter_Max_Range = 222.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.446635 meters # Minimum depth: 1079.215846 meters looking forward 100.000000 meters along route # Maximum depth: 1080.890617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.215846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779980; longitude = -122.031217; captureRadius = 10; duration = 75; initialDepth = 1025.395938; finalDepth = 1029.215846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5266670000001 # Actual altitude: 55.5266670000001 # Commanded vehicle depth:1029.215846 # Seafloor depth:-1079.796434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.11; MB_Bottom_Detect_Filter_Max_Range = 222.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.446635 meters # Minimum depth: 1075.395938 meters looking forward 100.000000 meters along route # Maximum depth: 1080.663709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.395938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779510; longitude = -122.031869; captureRadius = 10; duration = 75; initialDepth = 1025.398375; finalDepth = 1025.395938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4073250000001 # Actual altitude: 54.4073250000001 # Commanded vehicle depth:1025.395938 # Seafloor depth:-1079.803263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.63; 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 = 217.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.446635 meters # Minimum depth: 1075.398375 meters looking forward 100.000000 meters along route # Maximum depth: 1082.830872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.398375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779034; longitude = -122.032527; captureRadius = 10; duration = 75; initialDepth = 1032.655762; finalDepth = 1025.398375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4073250000001 # Actual altitude: 54.4073250000001 # Commanded vehicle depth:1025.398375 # Seafloor depth:-1076.227098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.63; 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 = 217.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.446635 meters # Minimum depth: 1082.655762 meters looking forward 100.000000 meters along route # Maximum depth: 1084.324477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.655762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778579; longitude = -122.033158; captureRadius = 10; duration = 75; initialDepth = 1033.688114; finalDepth = 1032.655762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8287230000001 # Actual altitude: 50.8287230000001 # Commanded vehicle depth:1032.655762 # Seafloor depth:-1082.745216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.17; MB_Bottom_Detect_Filter_Max_Range = 203.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.446635 meters # Minimum depth: 1083.688114 meters looking forward 100.000000 meters along route # Maximum depth: 1084.412932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.688114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778093; longitude = -122.033830; captureRadius = 10; duration = 75; initialDepth = 1033.799372; finalDepth = 1033.688114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7248179999999 # Actual altitude: 50.7248179999999 # Commanded vehicle depth:1033.688114 # Seafloor depth:-1084.412932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.14; MB_Bottom_Detect_Filter_Max_Range = 202.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.446635 meters # Minimum depth: 1083.799372 meters looking forward 100.000000 meters along route # Maximum depth: 1093.899219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.799372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777637; longitude = -122.034461; captureRadius = 10; duration = 75; initialDepth = 1041.968748; finalDepth = 1033.799372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7248179999999 # Actual altitude: 50.7248179999999 # Commanded vehicle depth:1033.799372 # Seafloor depth:-1084.088646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.14; MB_Bottom_Detect_Filter_Max_Range = 202.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.446635 meters # Minimum depth: 1091.968748 meters looking forward 100.000000 meters along route # Maximum depth: 1101.437475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.968748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777162; longitude = -122.035118; captureRadius = 10; duration = 75; initialDepth = 1049.559314; finalDepth = 1041.968748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2060730000001 # Actual altitude: 52.2060730000001 # Commanded vehicle depth:1041.968748 # Seafloor depth:-1094.174821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.82; 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 = 208.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.446635 meters # Minimum depth: 1099.559314 meters looking forward 100.000000 meters along route # Maximum depth: 1104.712738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.559314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776691; longitude = -122.035771; captureRadius = 10; duration = 75; initialDepth = 1050.650629; finalDepth = 1049.559314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2466919999999 # Actual altitude: 52.2466919999999 # Commanded vehicle depth:1049.559314 # Seafloor depth:-1101.806006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.99; 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 = 208.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.446635 meters # Minimum depth: 1100.650629 meters looking forward 100.000000 meters along route # Maximum depth: 1104.646752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.650629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776232; longitude = -122.036407; captureRadius = 10; duration = 75; initialDepth = 1049.940248; finalDepth = 1050.650629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.387248 # Actual altitude: 53.387248 # Commanded vehicle depth:1050.650629 # Seafloor depth:-1104.037877 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.55; 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 = 213.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 75.446635 meters # Minimum depth: 1099.940248 meters looking forward 100.000000 meters along route # Maximum depth: 1103.765022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.940248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775760; longitude = -122.037060; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1049.965011; finalDepth = 1049.940248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.387248 # Actual altitude: 53.387248 # Commanded vehicle depth:1049.940248 # Seafloor depth:-1100.325033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.55; 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 = 213.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.446635 meters # Minimum depth: 1099.965011 meters looking forward 100.000000 meters along route # Maximum depth: 1108.194833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.965011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775429; longitude = -122.037216; captureRadius = 10; duration = 75; initialDepth = 1057.300245; finalDepth = 1049.965011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.165035 # Actual altitude: 51.165035 # Commanded vehicle depth:1049.965011 # Seafloor depth:-1101.130046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 204.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.446635 meters # Minimum depth: 1107.300245 meters looking forward 100.000000 meters along route # Maximum depth: 1110.590405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.300245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774768; longitude = -122.037527; captureRadius = 10; duration = 75; initialDepth = 1060.133647; finalDepth = 1057.300245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.165035 # Actual altitude: 51.165035 # Commanded vehicle depth:1057.300245 # Seafloor depth:-1108.358602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 204.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.446635 meters # Minimum depth: 1110.133647 meters looking forward 100.000000 meters along route # Maximum depth: 1113.885610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.133647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774122; longitude = -122.037831; captureRadius = 10; duration = 75; initialDepth = 1063.526254; finalDepth = 1060.133647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0583570000001 # Actual altitude: 51.0583570000001 # Commanded vehicle depth:1060.133647 # Seafloor depth:-1110.826394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.21; MB_Bottom_Detect_Filter_Max_Range = 204.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.446635 meters # Minimum depth: 1113.526254 meters looking forward 100.000000 meters along route # Maximum depth: 1115.380134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.526254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.773446; longitude = -122.038149; captureRadius = 10; duration = 75; initialDepth = 1064.630043; finalDepth = 1063.526254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6927469999998 # Actual altitude: 50.6927469999998 # Commanded vehicle depth:1063.526254 # Seafloor depth:-1113.905585 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.14; MB_Bottom_Detect_Filter_Max_Range = 202.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 75.446635 meters # Minimum depth: 1114.630043 meters looking forward 100.000000 meters along route # Maximum depth: 1115.810215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.630043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.772786; longitude = -122.038461; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1065.568856; finalDepth = 1064.630043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7690460000001 # Actual altitude: 50.7690460000001 # Commanded vehicle depth:1064.630043 # Seafloor depth:-1115.399089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.08; 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 = 203.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.446635 meters # Minimum depth: 1115.568856 meters looking forward 100.000000 meters along route # Maximum depth: 1117.526716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.568856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.772320; longitude = -122.038549; captureRadius = 10; duration = 75; initialDepth = 1067.340226; finalDepth = 1065.568856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7690460000001 # Actual altitude: 50.7690460000001 # Commanded vehicle depth:1065.568856 # Seafloor depth:-1115.953263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.08; 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 = 203.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.446635 meters # Minimum depth: 1117.340226 meters looking forward 100.000000 meters along route # Maximum depth: 1119.412279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.340226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.771644; longitude = -122.038679; captureRadius = 10; duration = 75; initialDepth = 1068.745200; finalDepth = 1067.340226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.384407 # Actual altitude: 50.384407 # Commanded vehicle depth:1067.340226 # Seafloor depth:-1117.544379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.08; MB_Bottom_Detect_Filter_Max_Range = 201.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.446635 meters # Minimum depth: 1118.745200 meters looking forward 100.000000 meters along route # Maximum depth: 1123.721497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.745200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.770968; longitude = -122.038808; captureRadius = 10; duration = 75; initialDepth = 1072.885061; finalDepth = 1068.745200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.922785 # Actual altitude: 50.922785 # Commanded vehicle depth:1068.7452 # Seafloor depth:-1119.667985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.69; 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 = 203.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.446635 meters # Minimum depth: 1122.885061 meters looking forward 100.000000 meters along route # Maximum depth: 1126.457967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.885061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.770292; longitude = -122.038937; captureRadius = 10; duration = 75; initialDepth = 1075.929618; finalDepth = 1072.885061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.069023 # Actual altitude: 51.069023 # Commanded vehicle depth:1072.885061 # Seafloor depth:-1123.954084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.21; MB_Bottom_Detect_Filter_Max_Range = 204.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.446635 meters # Minimum depth: 1125.929618 meters looking forward 100.000000 meters along route # Maximum depth: 1131.694023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.929618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.769616; longitude = -122.039066; captureRadius = 10; duration = 75; initialDepth = 1080.601606; finalDepth = 1075.929618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.069023 # Actual altitude: 51.069023 # Commanded vehicle depth:1075.929618 # Seafloor depth:-1126.602109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.21; MB_Bottom_Detect_Filter_Max_Range = 204.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.446635 meters # Minimum depth: 1130.601606 meters looking forward 100.000000 meters along route # Maximum depth: 1136.004137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.601606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.768940; longitude = -122.039195; captureRadius = 10; duration = 75; initialDepth = 1085.089481; finalDepth = 1080.601606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2847490000001 # Actual altitude: 51.2847490000001 # Commanded vehicle depth:1080.601606 # Seafloor depth:-1131.886355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.14; 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 = 205.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.446635 meters # Minimum depth: 1135.089481 meters looking forward 100.000000 meters along route # Maximum depth: 1138.528950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.089481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.768264; longitude = -122.039324; captureRadius = 10; duration = 75; initialDepth = 1087.961915; finalDepth = 1085.089481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2847490000001 # Actual altitude: 51.2847490000001 # Commanded vehicle depth:1085.089481 # Seafloor depth:-1136.111240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.14; 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 = 205.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.446635 meters # Minimum depth: 1137.961915 meters looking forward 100.000000 meters along route # Maximum depth: 1143.536393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.961915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.767588; longitude = -122.039453; captureRadius = 10; duration = 75; initialDepth = 1092.047000; finalDepth = 1087.961915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.021759 # Actual altitude: 51.021759 # Commanded vehicle depth:1087.961915 # Seafloor depth:-1138.724571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.09; 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 = 204.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.446635 meters # Minimum depth: 1142.047000 meters looking forward 100.000000 meters along route # Maximum depth: 1148.286713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.047000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.766913; longitude = -122.039582; captureRadius = 10; duration = 75; initialDepth = 1097.256222; finalDepth = 1092.047000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.783371 # Actual altitude: 51.783371 # Commanded vehicle depth:1092.047 # Seafloor depth:-1143.830371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.13; 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 = 207.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.446635 meters # Minimum depth: 1147.256222 meters looking forward 100.000000 meters along route # Maximum depth: 1148.453574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.256222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.766231; longitude = -122.039712; captureRadius = 10; duration = 75; initialDepth = 1097.256222; finalDepth = 1097.256222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.783371 # Actual altitude: 51.783371 # Commanded vehicle depth:1097.256222 # Seafloor depth:-1148.296928 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.13; 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 = 207.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 75.446635 meters # Minimum depth: 1147.256222 meters looking forward 100.000000 meters along route # Maximum depth: 1150.572178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.256222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.765546; longitude = -122.039842; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1098.519154; finalDepth = 1097.256222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.040706 # Actual altitude: 51.040706 # Commanded vehicle depth:1097.256222 # Seafloor depth:-1147.536377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.21; MB_Bottom_Detect_Filter_Max_Range = 204.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.446635 meters # Minimum depth: 1148.519154 meters looking forward 100.000000 meters along route # Maximum depth: 1155.639916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.519154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.764975; longitude = -122.039560; captureRadius = 10; duration = 75; initialDepth = 1104.803655; finalDepth = 1098.519154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.813684 # Actual altitude: 52.813684 # Commanded vehicle depth:1098.519154 # Seafloor depth:-1151.332838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.25; 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 = 211.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.446635 meters # Minimum depth: 1154.803655 meters looking forward 100.000000 meters along route # Maximum depth: 1156.095311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.803655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.764344; longitude = -122.039248; captureRadius = 10; duration = 75; initialDepth = 1104.259169; finalDepth = 1104.803655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.813684 # Actual altitude: 52.813684 # Commanded vehicle depth:1104.803655 # Seafloor depth:-1155.822975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.25; 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 = 211.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.446635 meters # Minimum depth: 1154.259169 meters looking forward 100.000000 meters along route # Maximum depth: 1155.496158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.259169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.763713; longitude = -122.038937; captureRadius = 10; duration = 75; initialDepth = 1104.523619; finalDepth = 1104.259169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0193200000001 # Actual altitude: 51.0193200000001 # Commanded vehicle depth:1104.259169 # Seafloor depth:-1154.714078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.08; 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 = 204.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.446635 meters # Minimum depth: 1154.523619 meters looking forward 100.000000 meters along route # Maximum depth: 1158.485955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.523619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.763082; longitude = -122.038625; captureRadius = 10; duration = 75; initialDepth = 1107.411250; finalDepth = 1104.523619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5184429999999 # Actual altitude: 50.5184429999999 # Commanded vehicle depth:1104.523619 # Seafloor depth:-1155.042062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.07; 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 = 202.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.446635 meters # Minimum depth: 1157.411250 meters looking forward 100.000000 meters along route # Maximum depth: 1161.331256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.411250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.762448; longitude = -122.038311; captureRadius = 10; duration = 75; initialDepth = 1110.765487; finalDepth = 1107.411250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0905579999999 # Actual altitude: 51.0905579999999 # Commanded vehicle depth:1107.41125 # Seafloor depth:-1158.501808 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.36; 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 = 204.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 75.446635 meters # Minimum depth: 1160.765487 meters looking forward 100.000000 meters along route # Maximum depth: 1165.213774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.765487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.761806; longitude = -122.037994; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1114.549390; finalDepth = 1110.765487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0905579999999 # Actual altitude: 51.0905579999999 # Commanded vehicle depth:1110.765487 # Seafloor depth:-1161.429850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.36; 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 = 204.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.446635 meters # Minimum depth: 1164.549390 meters looking forward 100.000000 meters along route # Maximum depth: 1170.465077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.549390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.761190; longitude = -122.037566; captureRadius = 10; duration = 75; initialDepth = 1119.067162; finalDepth = 1114.549390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8627670000001 # Actual altitude: 50.8627670000001 # Commanded vehicle depth:1114.54939 # Seafloor depth:-1165.412157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.17; MB_Bottom_Detect_Filter_Max_Range = 203.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.446635 meters # Minimum depth: 1169.067162 meters looking forward 100.000000 meters along route # Maximum depth: 1172.162419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.067162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.760570; longitude = -122.037135; captureRadius = 10; duration = 75; initialDepth = 1119.768411; finalDepth = 1119.067162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.671466 # Actual altitude: 51.671466 # Commanded vehicle depth:1119.067162 # Seafloor depth:-1170.738628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.69; 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 = 206.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.446635 meters # Minimum depth: 1169.768411 meters looking forward 100.000000 meters along route # Maximum depth: 1171.933201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.768411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.759973; longitude = -122.036719; captureRadius = 10; duration = 75; initialDepth = 1119.692719; finalDepth = 1119.768411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.696862 # Actual altitude: 51.696862 # Commanded vehicle depth:1119.768411 # Seafloor depth:-1171.465273 # behavior reson { duration = 6; 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 during line 50 # Segment length 75.446635 meters # Minimum depth: 1169.692719 meters looking forward 100.000000 meters along route # Maximum depth: 1172.207472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.692719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.759362; longitude = -122.036295; captureRadius = 10; duration = 75; initialDepth = 1119.701326; finalDepth = 1119.692719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.696862 # Actual altitude: 51.696862 # Commanded vehicle depth:1119.692719 # Seafloor depth:-1169.743153 # 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 49 # Segment length 75.446635 meters # Minimum depth: 1169.701326 meters looking forward 100.000000 meters along route # Maximum depth: 1174.774663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.701326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.758771; longitude = -122.035884; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1123.265802; finalDepth = 1119.701326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6919029999999 # Actual altitude: 52.6919029999999 # Commanded vehicle depth:1119.701326 # Seafloor depth:-1172.393229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.77; 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 = 210.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.446635 meters # Minimum depth: 1173.265802 meters looking forward 100.000000 meters along route # Maximum depth: 1177.075467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1123.265802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.758509; longitude = -122.035678; captureRadius = 10; duration = 75; initialDepth = 1126.661921; finalDepth = 1123.265802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6919029999999 # Actual altitude: 52.6919029999999 # Commanded vehicle depth:1123.265802 # Seafloor depth:-1175.008142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.77; 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 = 210.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.446635 meters # Minimum depth: 1176.661921 meters looking forward 100.000000 meters along route # Maximum depth: 1179.555245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.661921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.757937; longitude = -122.035230; captureRadius = 10; duration = 75; initialDepth = 1128.816280; finalDepth = 1126.661921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.74234 # Actual altitude: 51.74234 # Commanded vehicle depth:1126.661921 # Seafloor depth:-1177.091625 # behavior reson { duration = 6; 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 during line 49 # Segment length 75.446635 meters # Minimum depth: 1178.816280 meters looking forward 100.000000 meters along route # Maximum depth: 1184.630992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.816280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.757365; longitude = -122.034782; captureRadius = 10; duration = 75; initialDepth = 1133.544308; finalDepth = 1128.816280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0090250000001 # Actual altitude: 51.0090250000001 # Commanded vehicle depth:1128.81628 # Seafloor depth:-1179.825305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.04; 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 = 204.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.446635 meters # Minimum depth: 1183.544308 meters looking forward 100.000000 meters along route # Maximum depth: 1188.212572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.544308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756793; longitude = -122.034334; captureRadius = 10; duration = 75; initialDepth = 1136.531573; finalDepth = 1133.544308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.191063 # Actual altitude: 51.191063 # Commanded vehicle depth:1133.544308 # Seafloor depth:-1184.735371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.76; 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 = 204.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.446635 meters # Minimum depth: 1186.531573 meters looking forward 100.000000 meters along route # Maximum depth: 1195.858930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.531573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756221; longitude = -122.033886; captureRadius = 10; duration = 75; initialDepth = 1143.695175; finalDepth = 1136.531573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.874284 # Actual altitude: 51.874284 # Commanded vehicle depth:1136.531573 # Seafloor depth:-1188.405857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.50; 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 = 207.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.446635 meters # Minimum depth: 1193.695175 meters looking forward 100.000000 meters along route # Maximum depth: 1200.613399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.695175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755649; longitude = -122.033438; captureRadius = 10; duration = 75; initialDepth = 1150.155452; finalDepth = 1143.695175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9151439999998 # Actual altitude: 52.9151439999998 # Commanded vehicle depth:1143.695175 # Seafloor depth:-1196.610319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.66; 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 = 211.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.446635 meters # Minimum depth: 1200.155452 meters looking forward 100.000000 meters along route # Maximum depth: 1200.999396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1150.155452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755077; longitude = -122.032989; captureRadius = 10; duration = 75; initialDepth = 1150.532671; finalDepth = 1150.155452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9151439999998 # Actual altitude: 52.9151439999998 # Commanded vehicle depth:1150.155452 # Seafloor depth:-1200.689374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.66; 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 = 211.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.446635 meters # Minimum depth: 1200.532671 meters looking forward 100.000000 meters along route # Maximum depth: 1204.663610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1150.532671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.754505; longitude = -122.032541; captureRadius = 10; duration = 75; initialDepth = 1154.166666; finalDepth = 1150.532671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5339220000001 # Actual altitude: 50.5339220000001 # Commanded vehicle depth:1150.532671 # Seafloor depth:-1200.802722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.11; MB_Bottom_Detect_Filter_Max_Range = 202.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.446635 meters # Minimum depth: 1204.166666 meters looking forward 100.000000 meters along route # Maximum depth: 1206.522164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.166666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.753933; longitude = -122.032093; captureRadius = 10; duration = 75; initialDepth = 1156.090156; finalDepth = 1154.166666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.498083 # Actual altitude: 50.498083 # Commanded vehicle depth:1154.166666 # Seafloor depth:-1204.664749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.99; 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 = 201.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.446635 meters # Minimum depth: 1206.090156 meters looking forward 100.000000 meters along route # Maximum depth: 1207.443099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.090156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.753361; longitude = -122.031645; captureRadius = 10; duration = 75; initialDepth = 1156.139929; finalDepth = 1156.090156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.498083 # Actual altitude: 50.498083 # Commanded vehicle depth:1156.090156 # Seafloor depth:-1206.517456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.99; 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 = 201.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.446635 meters # Minimum depth: 1206.139929 meters looking forward 100.000000 meters along route # Maximum depth: 1208.226129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.139929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752788; longitude = -122.031197; captureRadius = 10; duration = 75; initialDepth = 1156.139929; finalDepth = 1156.139929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9242920000002 # Actual altitude: 50.9242920000002 # Commanded vehicle depth:1156.139929 # Seafloor depth:-1207.064221 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.70; 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 = 203.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 75.446635 meters # Minimum depth: 1206.139929 meters looking forward 100.000000 meters along route # Maximum depth: 1208.919082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.139929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752193; longitude = -122.030730; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1154.674025; finalDepth = 1156.139929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2939900000001 # Actual altitude: 52.2939900000001 # Commanded vehicle depth:1156.139929 # Seafloor depth:-1208.433919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.18; 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 = 209.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.446635 meters # Minimum depth: 1204.674025 meters looking forward 100.000000 meters along route # Maximum depth: 1208.919082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.674025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751997; longitude = -122.030563; captureRadius = 10; duration = 75; initialDepth = 1154.674025; finalDepth = 1154.674025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9232469999999 # Actual altitude: 53.9232469999999 # Commanded vehicle depth:1154.674025 # Seafloor depth:-1208.597272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.78; MB_Bottom_Detect_Filter_Max_Range = 215.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.446635 meters # Minimum depth: 1204.674025 meters looking forward 100.000000 meters along route # Maximum depth: 1211.660603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.674025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751428; longitude = -122.030077; captureRadius = 10; duration = 75; initialDepth = 1158.024088; finalDepth = 1154.674025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9232469999999 # Actual altitude: 53.9232469999999 # Commanded vehicle depth:1154.674025 # Seafloor depth:-1205.252398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.78; MB_Bottom_Detect_Filter_Max_Range = 215.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.446635 meters # Minimum depth: 1208.024088 meters looking forward 100.000000 meters along route # Maximum depth: 1211.660603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1158.024088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.750871; longitude = -122.029599; captureRadius = 10; duration = 75; initialDepth = 1158.722585; finalDepth = 1158.024088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2976680000002 # Actual altitude: 53.2976680000002 # Commanded vehicle depth:1158.024088 # Seafloor depth:-1211.321756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.19; 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 = 213.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.446635 meters # Minimum depth: 1208.722585 meters looking forward 100.000000 meters along route # Maximum depth: 1213.314077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1158.722585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.750285; longitude = -122.029098; captureRadius = 10; duration = 75; initialDepth = 1162.792953; finalDepth = 1158.722585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2976680000002 # Actual altitude: 53.2976680000002 # Commanded vehicle depth:1158.722585 # Seafloor depth:-1209.924026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.19; 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 = 213.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.446635 meters # Minimum depth: 1212.792953 meters looking forward 100.000000 meters along route # Maximum depth: 1216.710316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1162.792953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749699; longitude = -122.028597; captureRadius = 10; duration = 75; initialDepth = 1166.519182; finalDepth = 1162.792953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2014409999999 # Actual altitude: 51.2014409999999 # Commanded vehicle depth:1162.792953 # Seafloor depth:-1213.493693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.81; 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 = 204.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.446635 meters # Minimum depth: 1216.519182 meters looking forward 100.000000 meters along route # Maximum depth: 1219.788050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1166.519182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749113; longitude = -122.028096; captureRadius = 10; duration = 75; initialDepth = 1169.465038; finalDepth = 1166.519182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.70074 # Actual altitude: 50.70074 # Commanded vehicle depth:1166.519182 # Seafloor depth:-1216.611778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.14; MB_Bottom_Detect_Filter_Max_Range = 202.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.446635 meters # Minimum depth: 1219.465038 meters looking forward 100.000000 meters along route # Maximum depth: 1222.302681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1169.465038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748528; longitude = -122.027595; captureRadius = 10; duration = 75; initialDepth = 1172.093063; finalDepth = 1169.465038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3428289999999 # Actual altitude: 50.3428289999999 # Commanded vehicle depth:1169.465038 # Seafloor depth:-1219.807867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.07; MB_Bottom_Detect_Filter_Max_Range = 201.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.446635 meters # Minimum depth: 1222.093063 meters looking forward 100.000000 meters along route # Maximum depth: 1224.456072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1172.093063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747942; longitude = -122.027094; captureRadius = 10; duration = 75; initialDepth = 1173.707374; finalDepth = 1172.093063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3428289999999 # Actual altitude: 50.3428289999999 # Commanded vehicle depth:1172.093063 # Seafloor depth:-1222.269125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.07; MB_Bottom_Detect_Filter_Max_Range = 201.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.446635 meters # Minimum depth: 1223.707374 meters looking forward 100.000000 meters along route # Maximum depth: 1228.231618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1173.707374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747368; longitude = -122.026603; captureRadius = 10; duration = 75; initialDepth = 1174.882156; finalDepth = 1173.707374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9240119999999 # Actual altitude: 50.9240119999999 # Commanded vehicle depth:1173.707374 # Seafloor depth:-1224.631386 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.70; 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 = 203.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 75.446635 meters # Minimum depth: 1224.882156 meters looking forward 100.000000 meters along route # Maximum depth: 1228.959157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1174.882156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746800; longitude = -122.026118; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1178.405660; finalDepth = 1174.882156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4293670000002 # Actual altitude: 53.4293670000002 # Commanded vehicle depth:1174.882156 # Seafloor depth:-1228.311523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.72; 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 = 213.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 75.446635 meters # Minimum depth: 1228.405660 meters looking forward 100.000000 meters along route # Maximum depth: 1229.745151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1178.405660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746635; longitude = -122.025924; captureRadius = 10; duration = 75; initialDepth = 1179.224422; finalDepth = 1178.405660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4293670000002 # Actual altitude: 53.4293670000002 # Commanded vehicle depth:1178.40566 # Seafloor depth:-1228.976751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.72; 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 = 213.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 75.446635 meters # Minimum depth: 1229.224422 meters looking forward 100.000000 meters along route # Maximum depth: 1234.339723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1179.224422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746139; longitude = -122.025344; captureRadius = 10; duration = 75; initialDepth = 1183.798149; finalDepth = 1179.224422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5951640000001 # Actual altitude: 50.5951640000001 # Commanded vehicle depth:1179.224422 # Seafloor depth:-1229.819586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.38; 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 = 202.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 75.446635 meters # Minimum depth: 1233.798149 meters looking forward 100.000000 meters along route # Maximum depth: 1237.727856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1183.798149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745644; longitude = -122.024764; captureRadius = 10; duration = 75; initialDepth = 1187.235287; finalDepth = 1183.798149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8116 # Actual altitude: 50.8116 # Commanded vehicle depth:1183.798149 # Seafloor depth:-1234.609749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.16; MB_Bottom_Detect_Filter_Max_Range = 203.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 75.446635 meters # Minimum depth: 1237.235287 meters looking forward 100.000000 meters along route # Maximum depth: 1239.009407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1187.235287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745148; longitude = -122.024184; captureRadius = 10; duration = 75; initialDepth = 1188.658705; finalDepth = 1187.235287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8116 # Actual altitude: 50.8116 # Commanded vehicle depth:1187.235287 # Seafloor depth:-1237.745383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.16; MB_Bottom_Detect_Filter_Max_Range = 203.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 75.446635 meters # Minimum depth: 1238.658705 meters looking forward 100.000000 meters along route # Maximum depth: 1242.606797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1188.658705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744652; longitude = -122.023603; captureRadius = 10; duration = 75; initialDepth = 1191.770965; finalDepth = 1188.658705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5191049999999 # Actual altitude: 50.5191049999999 # Commanded vehicle depth:1188.658705 # Seafloor depth:-1239.177810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.08; 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 = 202.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 75.446635 meters # Minimum depth: 1241.770965 meters looking forward 100.000000 meters along route # Maximum depth: 1245.481555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1191.770965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744157; longitude = -122.023023; captureRadius = 10; duration = 75; initialDepth = 1192.272020; finalDepth = 1191.770965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3018770000001 # Actual altitude: 51.3018770000001 # Commanded vehicle depth:1191.770965 # Seafloor depth:-1243.072842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.21; 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 = 205.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 75.446635 meters # Minimum depth: 1242.272020 meters looking forward 100.000000 meters along route # Maximum depth: 1245.481555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1192.272020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743661; longitude = -122.022443; captureRadius = 10; duration = 75; initialDepth = 1192.272020; finalDepth = 1192.272020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0391139999999 # Actual altitude: 53.0391139999999 # Commanded vehicle depth:1192.27202 # Seafloor depth:-1245.311134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.61; MB_Bottom_Detect_Filter_Max_Range = 212.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 75.446635 meters # Minimum depth: 1242.272020 meters looking forward 100.000000 meters along route # Maximum depth: 1254.355006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1192.272020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743165; longitude = -122.021863; captureRadius = 10; duration = 75; initialDepth = 1200.038208; finalDepth = 1192.272020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0391139999999 # Actual altitude: 53.0391139999999 # Commanded vehicle depth:1192.27202 # Seafloor depth:-1242.303568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.61; MB_Bottom_Detect_Filter_Max_Range = 212.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 75.446635 meters # Minimum depth: 1250.038208 meters looking forward 100.000000 meters along route # Maximum depth: 1258.452241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1200.038208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742669; longitude = -122.021282; captureRadius = 10; duration = 75; initialDepth = 1207.567705; finalDepth = 1200.038208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3421190000001 # Actual altitude: 54.3421190000001 # Commanded vehicle depth:1200.038208 # Seafloor depth:-1254.380327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.37; 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 = 217.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 75.446635 meters # Minimum depth: 1257.567705 meters looking forward 100.000000 meters along route # Maximum depth: 1261.769185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.567705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742143; longitude = -122.020665; captureRadius = 10; duration = 75; initialDepth = 1210.343777; finalDepth = 1207.567705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3421190000001 # Actual altitude: 54.3421190000001 # Commanded vehicle depth:1207.567705 # Seafloor depth:-1258.902201 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.37; 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 = 217.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 75.446635 meters # Minimum depth: 1260.343777 meters looking forward 100.000000 meters along route # Maximum depth: 1261.769185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.343777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741648; longitude = -122.020087; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1210.343777; finalDepth = 1210.343777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3344960000002 # Actual altitude: 51.3344960000002 # Commanded vehicle depth:1210.343777 # Seafloor depth:-1261.403076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.34; 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 = 205.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 75.446635 meters # Minimum depth: 1260.343777 meters looking forward 100.000000 meters along route # Maximum depth: 1268.569610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.343777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741228; longitude = -122.019844; captureRadius = 10; duration = 75; initialDepth = 1217.089356; finalDepth = 1210.343777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.059299 # Actual altitude: 51.059299 # Commanded vehicle depth:1210.343777 # Seafloor depth:-1260.988231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.21; MB_Bottom_Detect_Filter_Max_Range = 204.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 75.446635 meters # Minimum depth: 1267.089356 meters looking forward 100.000000 meters along route # Maximum depth: 1273.768434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1217.089356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740597; longitude = -122.019481; captureRadius = 10; duration = 75; initialDepth = 1222.762578; finalDepth = 1217.089356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5859350000001 # Actual altitude: 51.5859350000001 # Commanded vehicle depth:1217.089356 # Seafloor depth:-1268.675291 # 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 46 # Segment length 75.446635 meters # Minimum depth: 1272.762578 meters looking forward 100.000000 meters along route # Maximum depth: 1276.967570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1222.762578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739966; longitude = -122.019118; captureRadius = 10; duration = 75; initialDepth = 1225.863992; finalDepth = 1222.762578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5859350000001 # Actual altitude: 51.5859350000001 # Commanded vehicle depth:1222.762578 # Seafloor depth:-1274.012112 # 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 46 # Segment length 75.446635 meters # Minimum depth: 1275.863992 meters looking forward 100.000000 meters along route # Maximum depth: 1278.125378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1225.863992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739335; longitude = -122.018755; captureRadius = 10; duration = 75; initialDepth = 1228.004694; finalDepth = 1225.863992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2495339999998 # Actual altitude: 51.2495339999998 # Commanded vehicle depth:1225.863992 # Seafloor depth:-1277.027099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.00; 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 = 205.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 75.446635 meters # Minimum depth: 1278.004694 meters looking forward 100.000000 meters along route # Maximum depth: 1278.962777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.004694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738704; longitude = -122.018392; captureRadius = 10; duration = 75; initialDepth = 1228.387008; finalDepth = 1228.004694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1631069999999 # Actual altitude: 51.1631069999999 # Commanded vehicle depth:1228.004694 # Seafloor depth:-1278.292037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 204.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 75.446635 meters # Minimum depth: 1278.387008 meters looking forward 100.000000 meters along route # Maximum depth: 1282.162514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.387008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738073; longitude = -122.018029; captureRadius = 10; duration = 75; initialDepth = 1228.433393; finalDepth = 1228.387008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.287343 # Actual altitude: 50.287343 # Commanded vehicle depth:1228.387008 # Seafloor depth:-1278.396473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.15; 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 = 201.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 75.446635 meters # Minimum depth: 1278.433393 meters looking forward 100.000000 meters along route # Maximum depth: 1282.529369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.433393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737442; longitude = -122.017666; captureRadius = 10; duration = 75; initialDepth = 1228.433393; finalDepth = 1228.433393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.936271 # Actual altitude: 53.936271 # Commanded vehicle depth:1228.433393 # Seafloor depth:-1282.369664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.75; 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 = 215.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 75.446635 meters # Minimum depth: 1278.433393 meters looking forward 100.000000 meters along route # Maximum depth: 1286.134624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.433393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736812; longitude = -122.017303; captureRadius = 10; duration = 75; initialDepth = 1233.714861; finalDepth = 1228.433393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.936271 # Actual altitude: 53.936271 # Commanded vehicle depth:1228.433393 # Seafloor depth:-1278.438544 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.75; 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 = 215.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 75.446635 meters # Minimum depth: 1283.714861 meters looking forward 100.000000 meters along route # Maximum depth: 1288.315633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1233.714861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736166; longitude = -122.016931; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1237.560125; finalDepth = 1233.714861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.443342 # Actual altitude: 52.443342 # Commanded vehicle depth:1233.714861 # Seafloor depth:-1286.158203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.77; 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 = 209.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 75.446635 meters # Minimum depth: 1287.560125 meters looking forward 100.000000 meters along route # Maximum depth: 1289.273503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.560125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735595; longitude = -122.016621; captureRadius = 10; duration = 75; initialDepth = 1238.931663; finalDepth = 1237.560125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.443342 # Actual altitude: 52.443342 # Commanded vehicle depth:1237.560125 # Seafloor depth:-1288.422451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.77; 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 = 209.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 75.446635 meters # Minimum depth: 1288.931663 meters looking forward 100.000000 meters along route # Maximum depth: 1289.273503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.931663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734964; longitude = -122.016279; captureRadius = 10; duration = 75; initialDepth = 1237.760252; finalDepth = 1238.931663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8623259999999 # Actual altitude: 50.8623259999999 # Commanded vehicle depth:1238.931663 # Seafloor depth:-1288.931663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.17; MB_Bottom_Detect_Filter_Max_Range = 203.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 75.446635 meters # Minimum depth: 1287.760252 meters looking forward 100.000000 meters along route # Maximum depth: 1289.204233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.760252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734333; longitude = -122.015937; captureRadius = 10; duration = 75; initialDepth = 1237.736165; finalDepth = 1237.760252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.370433 # Actual altitude: 51.370433 # Commanded vehicle depth:1237.760252 # Seafloor depth:-1289.130685 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.48; 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 = 205.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 75.446635 meters # Minimum depth: 1287.736165 meters looking forward 100.000000 meters along route # Maximum depth: 1289.204233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.736165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733687; longitude = -122.015586; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1237.736165; finalDepth = 1237.736165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.370433 # Actual altitude: 51.370433 # Commanded vehicle depth:1237.736165 # Seafloor depth:-1287.736165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.48; 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 = 205.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.446635 meters # Minimum depth: 1287.736165 meters looking forward 100.000000 meters along route # Maximum depth: 1291.088374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.736165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733665; longitude = -122.015624; captureRadius = 10; duration = 75; initialDepth = 1239.371607; finalDepth = 1237.736165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.021604 # Actual altitude: 50.021604 # Commanded vehicle depth:1237.736165 # Seafloor depth:-1287.757769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.446635 meters # Minimum depth: 1289.371607 meters looking forward 100.000000 meters along route # Maximum depth: 1298.855820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1239.371607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733256; longitude = -122.016296; captureRadius = 10; duration = 75; initialDepth = 1246.867086; finalDepth = 1239.371607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.632705 # Actual altitude: 52.632705 # Commanded vehicle depth:1239.371607 # Seafloor depth:-1292.004312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.53; 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 = 210.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.446635 meters # Minimum depth: 1296.867086 meters looking forward 100.000000 meters along route # Maximum depth: 1302.018921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1246.867086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732848; longitude = -122.016968; captureRadius = 10; duration = 75; initialDepth = 1251.632380; finalDepth = 1246.867086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.757752 # Actual altitude: 52.757752 # Commanded vehicle depth:1246.867086 # Seafloor depth:-1299.624838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.03; 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 = 211.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.446635 meters # Minimum depth: 1301.632380 meters looking forward 100.000000 meters along route # Maximum depth: 1304.437727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1251.632380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732439; longitude = -122.017640; captureRadius = 10; duration = 75; initialDepth = 1253.787277; finalDepth = 1251.632380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.757752 # Actual altitude: 52.757752 # Commanded vehicle depth:1251.63238 # Seafloor depth:-1301.878833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.03; 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 = 211.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.446635 meters # Minimum depth: 1303.787277 meters looking forward 100.000000 meters along route # Maximum depth: 1311.152994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1253.787277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732031; longitude = -122.018313; captureRadius = 10; duration = 75; initialDepth = 1255.087699; finalDepth = 1253.787277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6717050000002 # Actual altitude: 50.6717050000002 # Commanded vehicle depth:1253.787277 # Seafloor depth:-1304.458982 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.13; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 75.446635 meters # Minimum depth: 1305.087699 meters looking forward 100.000000 meters along route # Maximum depth: 1311.238770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1255.087699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731599; longitude = -122.019022; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1247.212333; finalDepth = 1255.087699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.151071 # Actual altitude: 56.151071 # Commanded vehicle depth:1255.087699 # Seafloor depth:-1311.238770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.23; MB_Bottom_Detect_Filter_Max_Range = 224.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.446635 meters # Minimum depth: 1297.212333 meters looking forward 100.000000 meters along route # Maximum depth: 1306.872227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1247.212333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731266; longitude = -122.018593; captureRadius = 10; duration = 75; initialDepth = 1245.952907; finalDepth = 1247.212333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 57.834668 # Actual altitude: 57.834668 # Commanded vehicle depth:1247.212333 # Seafloor depth:-1305.047001 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.34; 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 = 231.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 75.446635 meters # Minimum depth: 1295.952907 meters looking forward 100.000000 meters along route # Maximum depth: 1305.973267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1245.952907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730758; longitude = -122.017939; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1236.473145; finalDepth = 1245.952907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.834668 # Actual altitude: 57.834668 # Commanded vehicle depth:1245.952907 # Seafloor depth:-1296.804199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.34; 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 = 231.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 75.446635 meters # Minimum depth: 1286.473145 meters looking forward 100.000000 meters along route # Maximum depth: 1299.378868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.473145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730804; longitude = -122.017864; captureRadius = 10; duration = 75; initialDepth = 1236.126656; finalDepth = 1236.473145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.011933 # Actual altitude: 57.011933 # Commanded vehicle depth:1236.473145 # Seafloor depth:-1293.485078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.05; 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 = 228.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 75.446635 meters # Minimum depth: 1286.126656 meters looking forward 100.000000 meters along route # Maximum depth: 1286.872890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.126656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731213; longitude = -122.017192; captureRadius = 10; duration = 75; initialDepth = 1236.103524; finalDepth = 1236.126656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.011933 # Actual altitude: 57.011933 # Commanded vehicle depth:1236.126656 # Seafloor depth:-1286.256981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.05; 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 = 228.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 75.446635 meters # Minimum depth: 1286.103524 meters looking forward 100.000000 meters along route # Maximum depth: 1290.315618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.103524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731622; longitude = -122.016520; captureRadius = 10; duration = 75; initialDepth = 1237.348121; finalDepth = 1236.103524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1303250000001 # Actual altitude: 50.1303250000001 # Commanded vehicle depth:1236.103524 # Seafloor depth:-1286.114301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.03; MB_Bottom_Detect_Filter_Max_Range = 200.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 75.446635 meters # Minimum depth: 1287.348121 meters looking forward 100.000000 meters along route # Maximum depth: 1290.761521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.348121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732031; longitude = -122.015848; captureRadius = 10; duration = 75; initialDepth = 1235.480233; finalDepth = 1237.348121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9848240000001 # Actual altitude: 52.9848240000001 # Commanded vehicle depth:1237.348121 # Seafloor depth:-1290.332945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.94; 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 = 211.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 75.446635 meters # Minimum depth: 1285.480233 meters looking forward 100.000000 meters along route # Maximum depth: 1287.964451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1235.480233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732441; longitude = -122.015176; captureRadius = 10; duration = 75; initialDepth = 1232.942535; finalDepth = 1235.480233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9848240000001 # Actual altitude: 52.9848240000001 # Commanded vehicle depth:1235.480233 # Seafloor depth:-1287.339478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.94; 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 = 211.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 75.446635 meters # Minimum depth: 1282.942535 meters looking forward 100.000000 meters along route # Maximum depth: 1286.728331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1232.942535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732850; longitude = -122.014503; captureRadius = 10; duration = 75; initialDepth = 1232.838949; finalDepth = 1232.942535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.486347 # Actual altitude: 52.486347 # Commanded vehicle depth:1232.942535 # Seafloor depth:-1285.428882 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.95; 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 = 209.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 75.446635 meters # Minimum depth: 1282.838949 meters looking forward 100.000000 meters along route # Maximum depth: 1287.221439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1232.838949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733282; longitude = -122.013794; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1235.348137; finalDepth = 1232.838949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.486347 # Actual altitude: 52.486347 # Commanded vehicle depth:1232.838949 # Seafloor depth:-1282.838949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.95; 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 = 209.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 75.446635 meters # Minimum depth: 1285.348137 meters looking forward 100.000000 meters along route # Maximum depth: 1290.259074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1235.348137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733657; longitude = -122.013972; captureRadius = 10; duration = 75; initialDepth = 1238.274609; finalDepth = 1235.348137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.353533 # Actual altitude: 52.353533 # Commanded vehicle depth:1235.348137 # Seafloor depth:-1287.701670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.41; 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 = 209.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 75.446635 meters # Minimum depth: 1288.274609 meters looking forward 100.000000 meters along route # Maximum depth: 1290.259074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.274609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734306; longitude = -122.014279; captureRadius = 10; duration = 75; initialDepth = 1235.421398; finalDepth = 1238.274609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.353533 # Actual altitude: 52.353533 # Commanded vehicle depth:1238.274609 # Seafloor depth:-1290.031433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.41; 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 = 209.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 75.446635 meters # Minimum depth: 1285.421398 meters looking forward 100.000000 meters along route # Maximum depth: 1288.777517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1235.421398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734964; longitude = -122.014592; captureRadius = 10; duration = 75; initialDepth = 1232.790450; finalDepth = 1235.421398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6267850000002 # Actual altitude: 52.6267850000002 # Commanded vehicle depth:1235.421398 # Seafloor depth:-1288.048183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.51; 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 = 210.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 75.446635 meters # Minimum depth: 1282.790450 meters looking forward 100.000000 meters along route # Maximum depth: 1286.007527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1232.790450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735640; longitude = -122.014912; captureRadius = 10; duration = 75; initialDepth = 1228.094133; finalDepth = 1232.790450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6267850000002 # Actual altitude: 52.6267850000002 # Commanded vehicle depth:1232.79045 # Seafloor depth:-1285.196308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.51; 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 = 210.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 75.446635 meters # Minimum depth: 1278.094133 meters looking forward 100.000000 meters along route # Maximum depth: 1282.971513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.094133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736316; longitude = -122.015233; captureRadius = 10; duration = 75; initialDepth = 1226.401654; finalDepth = 1228.094133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6935149999999 # Actual altitude: 54.6935149999999 # Commanded vehicle depth:1228.094133 # Seafloor depth:-1282.787648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.77; 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 = 218.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 75.446635 meters # Minimum depth: 1276.401654 meters looking forward 100.000000 meters along route # Maximum depth: 1279.341506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1226.401654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736992; longitude = -122.015553; captureRadius = 10; duration = 75; initialDepth = 1225.650543; finalDepth = 1226.401654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6935149999999 # Actual altitude: 54.6935149999999 # Commanded vehicle depth:1226.401654 # Seafloor depth:-1277.477167 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.77; 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 = 218.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 75.446635 meters # Minimum depth: 1275.650543 meters looking forward 100.000000 meters along route # Maximum depth: 1277.477167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1225.650543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737653; longitude = -122.015866; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1224.680787; finalDepth = 1225.650543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.075513 # Actual altitude: 51.075513 # Commanded vehicle depth:1225.650543 # Seafloor depth:-1276.214193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.30; 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 = 204.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 75.446635 meters # Minimum depth: 1274.680787 meters looking forward 100.000000 meters along route # Maximum depth: 1276.464358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1224.680787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737803; longitude = -122.015978; captureRadius = 10; duration = 75; initialDepth = 1224.353083; finalDepth = 1224.680787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8452359999999 # Actual altitude: 50.8452359999999 # Commanded vehicle depth:1224.680787 # Seafloor depth:-1275.526023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.17; MB_Bottom_Detect_Filter_Max_Range = 203.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 75.446635 meters # Minimum depth: 1274.353083 meters looking forward 100.000000 meters along route # Maximum depth: 1274.964649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1224.353083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738389; longitude = -122.016413; captureRadius = 10; duration = 75; initialDepth = 1220.681808; finalDepth = 1224.353083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8452359999999 # Actual altitude: 50.8452359999999 # Commanded vehicle depth:1224.353083 # Seafloor depth:-1274.959346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.17; MB_Bottom_Detect_Filter_Max_Range = 203.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 75.446635 meters # Minimum depth: 1270.681808 meters looking forward 100.000000 meters along route # Maximum depth: 1274.776201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1220.681808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738975; longitude = -122.016847; captureRadius = 10; duration = 75; initialDepth = 1219.081400; finalDepth = 1220.681808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.412777 # Actual altitude: 53.412777 # Commanded vehicle depth:1220.681808 # Seafloor depth:-1274.094585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.65; 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 = 213.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 75.446635 meters # Minimum depth: 1269.081400 meters looking forward 100.000000 meters along route # Maximum depth: 1271.392713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1219.081400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739560; longitude = -122.017282; captureRadius = 10; duration = 75; initialDepth = 1216.598904; finalDepth = 1219.081400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.412777 # Actual altitude: 53.412777 # Commanded vehicle depth:1219.0814 # Seafloor depth:-1270.514266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.65; 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 = 213.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 75.446635 meters # Minimum depth: 1266.598904 meters looking forward 100.000000 meters along route # Maximum depth: 1269.593894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.598904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740146; longitude = -122.017717; captureRadius = 10; duration = 75; initialDepth = 1214.013708; finalDepth = 1216.598904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4005750000001 # Actual altitude: 52.4005750000001 # Commanded vehicle depth:1216.598904 # Seafloor depth:-1268.999479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.60; 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 = 209.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 75.446635 meters # Minimum depth: 1264.013708 meters looking forward 100.000000 meters along route # Maximum depth: 1267.716696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1214.013708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740732; longitude = -122.018152; captureRadius = 10; duration = 75; initialDepth = 1210.593052; finalDepth = 1214.013708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5299 # Actual altitude: 52.5299 # Commanded vehicle depth:1214.013708 # Seafloor depth:-1266.543608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.12; 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 = 210.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 75.446635 meters # Minimum depth: 1260.593052 meters looking forward 100.000000 meters along route # Maximum depth: 1264.689862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.593052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741318; longitude = -122.018587; captureRadius = 10; duration = 75; initialDepth = 1210.593052; finalDepth = 1210.593052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1793730000002 # Actual altitude: 53.1793730000002 # Commanded vehicle depth:1210.593052 # Seafloor depth:-1263.772425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.72; 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 = 212.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 75.446635 meters # Minimum depth: 1260.593052 meters looking forward 100.000000 meters along route # Maximum depth: 1261.363844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.593052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741904; longitude = -122.019021; captureRadius = 10; duration = 75; initialDepth = 1210.165341; finalDepth = 1210.593052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1793730000002 # Actual altitude: 53.1793730000002 # Commanded vehicle depth:1210.593052 # Seafloor depth:-1260.704646 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.72; 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 = 212.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 75.446635 meters # Minimum depth: 1260.165341 meters looking forward 100.000000 meters along route # Maximum depth: 1261.363844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.165341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742508; longitude = -122.019470; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1207.205630; finalDepth = 1210.165341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7741430000001 # Actual altitude: 50.7741430000001 # Commanded vehicle depth:1210.165341 # Seafloor depth:-1260.939484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.10; 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 = 203.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.446635 meters # Minimum depth: 1257.205630 meters looking forward 100.000000 meters along route # Maximum depth: 1260.904292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.205630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742670; longitude = -122.019636; captureRadius = 10; duration = 75; initialDepth = 1194.098927; finalDepth = 1207.205630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7567530000001 # Actual altitude: 52.7567530000001 # Commanded vehicle depth:1207.20563 # Seafloor depth:-1259.962383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.03; 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 = 211.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.446635 meters # Minimum depth: 1244.098927 meters looking forward 100.000000 meters along route # Maximum depth: 1257.621961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1194.098927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743210; longitude = -122.020193; captureRadius = 10; duration = 75; initialDepth = 1190.552491; finalDepth = 1194.098927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.871574 # Actual altitude: 62.871574 # Commanded vehicle depth:1194.098927 # Seafloor depth:-1256.970501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.57; MB_Bottom_Detect_Filter_Max_Range = 251.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.446635 meters # Minimum depth: 1240.552491 meters looking forward 100.000000 meters along route # Maximum depth: 1247.122118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1190.552491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743751; longitude = -122.020749; captureRadius = 10; duration = 75; initialDepth = 1191.375880; finalDepth = 1190.552491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.871574 # Actual altitude: 62.871574 # Commanded vehicle depth:1190.552491 # Seafloor depth:-1243.409552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.57; MB_Bottom_Detect_Filter_Max_Range = 251.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.446635 meters # Minimum depth: 1241.375880 meters looking forward 100.000000 meters along route # Maximum depth: 1244.734375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1191.375880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744292; longitude = -122.021306; captureRadius = 10; duration = 75; initialDepth = 1189.933034; finalDepth = 1191.375880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8570610000002 # Actual altitude: 52.8570610000002 # Commanded vehicle depth:1191.37588 # Seafloor depth:-1242.508656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.43; 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 = 211.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.446635 meters # Minimum depth: 1239.933034 meters looking forward 100.000000 meters along route # Maximum depth: 1244.734375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1189.933034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744832; longitude = -122.021863; captureRadius = 10; duration = 75; initialDepth = 1188.534851; finalDepth = 1189.933034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5331290000001 # Actual altitude: 54.5331290000001 # Commanded vehicle depth:1189.933034 # Seafloor depth:-1244.466163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.13; 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 = 218.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.446635 meters # Minimum depth: 1238.534851 meters looking forward 100.000000 meters along route # Maximum depth: 1241.196793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1188.534851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745373; longitude = -122.022419; captureRadius = 10; duration = 75; initialDepth = 1186.779383; finalDepth = 1188.534851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5331290000001 # Actual altitude: 54.5331290000001 # Commanded vehicle depth:1188.534851 # Seafloor depth:-1239.716684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.13; 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 = 218.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.446635 meters # Minimum depth: 1236.779383 meters looking forward 100.000000 meters along route # Maximum depth: 1239.112915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1186.779383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745914; longitude = -122.022976; captureRadius = 10; duration = 75; initialDepth = 1184.415686; finalDepth = 1186.779383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.291686 # Actual altitude: 52.291686 # Commanded vehicle depth:1186.779383 # Seafloor depth:-1239.071069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.17; 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 = 209.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.446635 meters # Minimum depth: 1234.415686 meters looking forward 100.000000 meters along route # Maximum depth: 1237.478143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1184.415686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746455; longitude = -122.023532; captureRadius = 10; duration = 75; initialDepth = 1181.191107; finalDepth = 1184.415686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.312825 # Actual altitude: 52.312825 # Commanded vehicle depth:1184.415686 # Seafloor depth:-1236.728511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.25; 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 = 209.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.446635 meters # Minimum depth: 1231.191107 meters looking forward 100.000000 meters along route # Maximum depth: 1235.182178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1181.191107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746995; longitude = -122.024089; captureRadius = 10; duration = 75; initialDepth = 1181.119692; finalDepth = 1181.191107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.182061 # Actual altitude: 53.182061 # Commanded vehicle depth:1181.191107 # Seafloor depth:-1234.373168 # 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 38 # Segment length 75.446635 meters # Minimum depth: 1231.119692 meters looking forward 100.000000 meters along route # Maximum depth: 1234.917077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1181.119692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747554; longitude = -122.024664; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1179.365247; finalDepth = 1181.119692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.182061 # Actual altitude: 53.182061 # Commanded vehicle depth:1181.119692 # Seafloor depth:-1231.160065 # 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 38 # Segment length 75.446635 meters # Minimum depth: 1229.365247 meters looking forward 100.000000 meters along route # Maximum depth: 1231.347659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1179.365247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747593; longitude = -122.024699; captureRadius = 10; duration = 75; initialDepth = 1176.246692; finalDepth = 1179.365247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7327620000001 # Actual altitude: 51.7327620000001 # Commanded vehicle depth:1179.365247 # Seafloor depth:-1231.098009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.93; 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 = 206.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.446635 meters # Minimum depth: 1226.246692 meters looking forward 100.000000 meters along route # Maximum depth: 1230.216904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1176.246692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748167; longitude = -122.025207; captureRadius = 10; duration = 75; initialDepth = 1174.989928; finalDepth = 1176.246692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.066071 # Actual altitude: 53.066071 # Commanded vehicle depth:1176.246692 # Seafloor depth:-1229.312763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.61; MB_Bottom_Detect_Filter_Max_Range = 212.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.446635 meters # Minimum depth: 1224.989928 meters looking forward 100.000000 meters along route # Maximum depth: 1226.640667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1174.989928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748732; longitude = -122.025707; captureRadius = 10; duration = 75; initialDepth = 1173.008831; finalDepth = 1174.989928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.066071 # Actual altitude: 53.066071 # Commanded vehicle depth:1174.989928 # Seafloor depth:-1226.263454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.61; MB_Bottom_Detect_Filter_Max_Range = 212.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.446635 meters # Minimum depth: 1223.008831 meters looking forward 100.000000 meters along route # Maximum depth: 1225.517018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1173.008831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749301; longitude = -122.026211; captureRadius = 10; duration = 75; initialDepth = 1168.574709; finalDepth = 1173.008831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.96434 # Actual altitude: 51.96434 # Commanded vehicle depth:1173.008831 # Seafloor depth:-1224.973171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.39; MB_Bottom_Detect_Filter_Max_Range = 207.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.446635 meters # Minimum depth: 1218.574709 meters looking forward 100.000000 meters along route # Maximum depth: 1223.256436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1168.574709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749879; longitude = -122.026724; captureRadius = 10; duration = 75; initialDepth = 1164.487761; finalDepth = 1168.574709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4038190000001 # Actual altitude: 54.4038190000001 # Commanded vehicle depth:1168.574709 # Seafloor depth:-1222.978528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.62; 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 = 217.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.446635 meters # Minimum depth: 1214.487761 meters looking forward 100.000000 meters along route # Maximum depth: 1220.193551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1164.487761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.750439; longitude = -122.027220; captureRadius = 10; duration = 75; initialDepth = 1160.761297; finalDepth = 1164.487761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4038190000001 # Actual altitude: 54.4038190000001 # Commanded vehicle depth:1164.487761 # Seafloor depth:-1218.316465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.62; 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 = 217.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.446635 meters # Minimum depth: 1210.761297 meters looking forward 100.000000 meters along route # Maximum depth: 1215.042357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1160.761297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751008; longitude = -122.027724; captureRadius = 10; duration = 75; initialDepth = 1154.543776; finalDepth = 1160.761297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.828704 # Actual altitude: 53.828704 # Commanded vehicle depth:1160.761297 # Seafloor depth:-1214.469516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.31; 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 = 215.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.446635 meters # Minimum depth: 1204.543776 meters looking forward 100.000000 meters along route # Maximum depth: 1210.865201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.543776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751592; longitude = -122.028241; captureRadius = 10; duration = 75; initialDepth = 1152.498651; finalDepth = 1154.543776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.200151 # Actual altitude: 56.200151 # Commanded vehicle depth:1154.543776 # Seafloor depth:-1210.743927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.80; 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 = 224.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.446635 meters # Minimum depth: 1202.498651 meters looking forward 100.000000 meters along route # Maximum depth: 1205.715925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.498651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752177; longitude = -122.028760; captureRadius = 10; duration = 75; initialDepth = 1152.498651; finalDepth = 1152.498651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.200151 # Actual altitude: 56.200151 # Commanded vehicle depth:1152.498651 # Seafloor depth:-1204.385813 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.80; 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 = 224.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 75.446635 meters # Minimum depth: 1202.498651 meters looking forward 100.000000 meters along route # Maximum depth: 1205.117895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.498651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752747; longitude = -122.029264; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1149.784910; finalDepth = 1152.498651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.887162 # Actual altitude: 51.887162 # Commanded vehicle depth:1152.498651 # Seafloor depth:-1202.981110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.55; 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 = 207.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.446635 meters # Minimum depth: 1199.784910 meters looking forward 100.000000 meters along route # Maximum depth: 1203.421302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.784910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752808; longitude = -122.029311; captureRadius = 10; duration = 75; initialDepth = 1149.460751; finalDepth = 1149.784910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.479122 # Actual altitude: 53.479122 # Commanded vehicle depth:1149.78491 # Seafloor depth:-1203.264032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.70; MB_Bottom_Detect_Filter_Max_Range = 213.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.446635 meters # Minimum depth: 1199.460751 meters looking forward 100.000000 meters along route # Maximum depth: 1201.380146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.460751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.753394; longitude = -122.029755; captureRadius = 10; duration = 75; initialDepth = 1148.019593; finalDepth = 1149.460751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.479122 # Actual altitude: 53.479122 # Commanded vehicle depth:1149.460751 # Seafloor depth:-1199.692987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.70; MB_Bottom_Detect_Filter_Max_Range = 213.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.446635 meters # Minimum depth: 1198.019593 meters looking forward 100.000000 meters along route # Maximum depth: 1199.694866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.019593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.753980; longitude = -122.030199; captureRadius = 10; duration = 75; initialDepth = 1145.275394; finalDepth = 1148.019593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4341790000001 # Actual altitude: 51.4341790000001 # Commanded vehicle depth:1148.019593 # Seafloor depth:-1199.453772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.74; 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 = 205.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.446635 meters # Minimum depth: 1195.275394 meters looking forward 100.000000 meters along route # Maximum depth: 1199.055803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1145.275394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.754566; longitude = -122.030644; captureRadius = 10; duration = 75; initialDepth = 1143.278177; finalDepth = 1145.275394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6873439999999 # Actual altitude: 52.6873439999999 # Commanded vehicle depth:1145.275394 # Seafloor depth:-1197.962738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.75; 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 = 210.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.446635 meters # Minimum depth: 1193.278177 meters looking forward 100.000000 meters along route # Maximum depth: 1196.027075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.278177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755152; longitude = -122.031088; captureRadius = 10; duration = 75; initialDepth = 1140.608487; finalDepth = 1143.278177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6873439999999 # Actual altitude: 52.6873439999999 # Commanded vehicle depth:1143.278177 # Seafloor depth:-1195.261147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.75; 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 = 210.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.446635 meters # Minimum depth: 1190.608487 meters looking forward 100.000000 meters along route # Maximum depth: 1194.140041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1140.608487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755738; longitude = -122.031533; captureRadius = 10; duration = 75; initialDepth = 1135.869190; finalDepth = 1140.608487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6682250000001 # Actual altitude: 52.6682250000001 # Commanded vehicle depth:1140.608487 # Seafloor depth:-1193.276712 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.67; 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 = 210.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 75.446635 meters # Minimum depth: 1185.869190 meters looking forward 100.000000 meters along route # Maximum depth: 1191.443890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1135.869190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756353; longitude = -122.032000; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1130.355334; finalDepth = 1135.869190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5805170000001 # Actual altitude: 54.5805170000001 # Commanded vehicle depth:1135.86919 # Seafloor depth:-1190.449707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.32; 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 = 218.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 75.446635 meters # Minimum depth: 1180.355334 meters looking forward 100.000000 meters along route # Maximum depth: 1187.692038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.355334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756864; longitude = -122.032514; captureRadius = 10; duration = 75; initialDepth = 1126.811905; finalDepth = 1130.355334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.035112 # Actual altitude: 55.035112 # Commanded vehicle depth:1130.355334 # Seafloor depth:-1185.390446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.01; MB_Bottom_Detect_Filter_Max_Range = 220.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 75.446635 meters # Minimum depth: 1176.811905 meters looking forward 100.000000 meters along route # Maximum depth: 1181.243902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.811905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.757405; longitude = -122.033059; captureRadius = 10; duration = 75; initialDepth = 1121.930084; finalDepth = 1126.811905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.035112 # Actual altitude: 55.035112 # Commanded vehicle depth:1126.811905 # Seafloor depth:-1180.266705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.01; MB_Bottom_Detect_Filter_Max_Range = 220.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 75.446635 meters # Minimum depth: 1171.930084 meters looking forward 100.000000 meters along route # Maximum depth: 1178.881092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.930084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.757948; longitude = -122.033606; captureRadius = 10; duration = 75; initialDepth = 1121.930084; finalDepth = 1121.930084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8386699999999 # Actual altitude: 54.8386699999999 # Commanded vehicle depth:1121.930084 # Seafloor depth:-1176.768754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.35; 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 = 219.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 75.446635 meters # Minimum depth: 1171.930084 meters looking forward 100.000000 meters along route # Maximum depth: 1174.407992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.930084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.758504; longitude = -122.034166; captureRadius = 10; duration = 75; initialDepth = 1121.930084; finalDepth = 1121.930084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8386699999999 # Actual altitude: 54.8386699999999 # Commanded vehicle depth:1121.930084 # Seafloor depth:-1171.954150 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.35; 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 = 219.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 75.446635 meters # Minimum depth: 1171.930084 meters looking forward 100.000000 meters along route # Maximum depth: 1174.407992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.930084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.759042; longitude = -122.034707; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1120.108583; finalDepth = 1121.930084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3943789999998 # Actual altitude: 52.3943789999998 # Commanded vehicle depth:1121.930084 # Seafloor depth:-1174.324463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.58; 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 = 209.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.446635 meters # Minimum depth: 1170.108583 meters looking forward 100.000000 meters along route # Maximum depth: 1174.407992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.108583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.759162; longitude = -122.034784; captureRadius = 10; duration = 75; initialDepth = 1113.869443; finalDepth = 1120.108583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.515889 # Actual altitude: 53.515889 # Commanded vehicle depth:1120.108583 # Seafloor depth:-1173.624472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.70; MB_Bottom_Detect_Filter_Max_Range = 214.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.446635 meters # Minimum depth: 1163.869443 meters looking forward 100.000000 meters along route # Maximum depth: 1170.419123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1113.869443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.759793; longitude = -122.035184; captureRadius = 10; duration = 75; initialDepth = 1110.188025; finalDepth = 1113.869443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.159114 # Actual altitude: 56.159114 # Commanded vehicle depth:1113.869443 # Seafloor depth:-1170.028557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.23; MB_Bottom_Detect_Filter_Max_Range = 224.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.446635 meters # Minimum depth: 1160.188025 meters looking forward 100.000000 meters along route # Maximum depth: 1166.023180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.188025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.760395; longitude = -122.035566; captureRadius = 10; duration = 75; initialDepth = 1109.145269; finalDepth = 1110.188025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.159114 # Actual altitude: 56.159114 # Commanded vehicle depth:1110.188025 # Seafloor depth:-1163.700785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.23; MB_Bottom_Detect_Filter_Max_Range = 224.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.446635 meters # Minimum depth: 1159.145269 meters looking forward 100.000000 meters along route # Maximum depth: 1161.154598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.145269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.761013; longitude = -122.035958; captureRadius = 10; duration = 75; initialDepth = 1109.449164; finalDepth = 1109.145269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5127600000001 # Actual altitude: 53.5127600000001 # Commanded vehicle depth:1109.145269 # Seafloor depth:-1160.175678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.70; MB_Bottom_Detect_Filter_Max_Range = 214.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.446635 meters # Minimum depth: 1159.449164 meters looking forward 100.000000 meters along route # Maximum depth: 1162.022125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.449164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.761640; longitude = -122.036357; captureRadius = 10; duration = 75; initialDepth = 1107.986287; finalDepth = 1109.449164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.030409 # Actual altitude: 51.030409 # Commanded vehicle depth:1109.449164 # Seafloor depth:-1160.379122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.21; MB_Bottom_Detect_Filter_Max_Range = 204.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.446635 meters # Minimum depth: 1157.986287 meters looking forward 100.000000 meters along route # Maximum depth: 1162.022125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.986287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.762248; longitude = -122.036743; captureRadius = 10; duration = 75; initialDepth = 1099.140754; finalDepth = 1107.986287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6720210000001 # Actual altitude: 52.6720210000001 # Commanded vehicle depth:1107.986287 # Seafloor depth:-1160.658308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.69; 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 = 210.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.446635 meters # Minimum depth: 1149.140754 meters looking forward 100.000000 meters along route # Maximum depth: 1158.166777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.140754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.762866; longitude = -122.037135; captureRadius = 10; duration = 75; initialDepth = 1093.132014; finalDepth = 1099.140754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.8752609999999 # Actual altitude: 58.8752609999999 # Commanded vehicle depth:1099.140754 # Seafloor depth:-1158.016015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.78; MB_Bottom_Detect_Filter_Max_Range = 235.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.446635 meters # Minimum depth: 1143.132014 meters looking forward 100.000000 meters along route # Maximum depth: 1151.492584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.132014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.763488; longitude = -122.037530; captureRadius = 10; duration = 75; initialDepth = 1093.132014; finalDepth = 1093.132014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.8752609999999 # Actual altitude: 58.8752609999999 # Commanded vehicle depth:1093.132014 # Seafloor depth:-1149.059705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.78; MB_Bottom_Detect_Filter_Max_Range = 235.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.446635 meters # Minimum depth: 1143.132014 meters looking forward 100.000000 meters along route # Maximum depth: 1145.712805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.132014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.764119; longitude = -122.037930; captureRadius = 10; duration = 75; initialDepth = 1094.440354; finalDepth = 1093.132014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.9276909999999 # Actual altitude: 55.9276909999999 # Commanded vehicle depth:1093.132014 # Seafloor depth:-1143.426940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.71; 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 = 223.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.446635 meters # Minimum depth: 1144.440354 meters looking forward 100.000000 meters along route # Maximum depth: 1145.712805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.440354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.764750; longitude = -122.038331; captureRadius = 10; duration = 75; initialDepth = 1088.152573; finalDepth = 1094.440354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.170623 # Actual altitude: 51.170623 # Commanded vehicle depth:1094.440354 # Seafloor depth:-1145.610977 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 204.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 75.446635 meters # Minimum depth: 1138.152573 meters looking forward 100.000000 meters along route # Maximum depth: 1145.165001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.152573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.765395; longitude = -122.038741; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1074.141239; finalDepth = 1088.152573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.244725 # Actual altitude: 56.244725 # Commanded vehicle depth:1088.152573 # Seafloor depth:-1144.397298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.98; 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 = 224.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 75.446635 meters # Minimum depth: 1124.141239 meters looking forward 100.000000 meters along route # Maximum depth: 1141.382243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.141239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.765741; longitude = -122.038657; captureRadius = 10; duration = 75; initialDepth = 1068.575891; finalDepth = 1074.141239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.991554 # Actual altitude: 62.991554 # Commanded vehicle depth:1074.141239 # Seafloor depth:-1137.132793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.60; MB_Bottom_Detect_Filter_Max_Range = 251.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 75.446635 meters # Minimum depth: 1118.575891 meters looking forward 100.000000 meters along route # Maximum depth: 1127.305828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.575891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.766417; longitude = -122.038492; captureRadius = 10; duration = 75; initialDepth = 1068.573325; finalDepth = 1068.575891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.991554 # Actual altitude: 62.991554 # Commanded vehicle depth:1068.575891 # Seafloor depth:-1123.187600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.60; MB_Bottom_Detect_Filter_Max_Range = 251.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 75.446635 meters # Minimum depth: 1118.573325 meters looking forward 100.000000 meters along route # Maximum depth: 1120.739950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.573325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.767093; longitude = -122.038328; captureRadius = 10; duration = 75; initialDepth = 1061.878039; finalDepth = 1068.573325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.611709 # Actual altitude: 54.611709 # Commanded vehicle depth:1068.573325 # Seafloor depth:-1118.659482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.45; 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 = 218.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 75.446635 meters # Minimum depth: 1111.878039 meters looking forward 100.000000 meters along route # Maximum depth: 1120.522473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.878039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.767769; longitude = -122.038163; captureRadius = 10; duration = 75; initialDepth = 1058.614869; finalDepth = 1061.878039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.81907 # Actual altitude: 55.81907 # Commanded vehicle depth:1061.878039 # Seafloor depth:-1117.697109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.28; 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 = 223.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 75.446635 meters # Minimum depth: 1108.614869 meters looking forward 100.000000 meters along route # Maximum depth: 1112.908755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.614869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.768445; longitude = -122.037999; captureRadius = 10; duration = 75; initialDepth = 1051.195761; finalDepth = 1058.614869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.81907 # Actual altitude: 55.81907 # Commanded vehicle depth:1058.614869 # Seafloor depth:-1111.700653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.28; 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 = 223.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 75.446635 meters # Minimum depth: 1101.195761 meters looking forward 100.000000 meters along route # Maximum depth: 1109.501280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.195761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.769121; longitude = -122.037834; captureRadius = 10; duration = 75; initialDepth = 1046.381290; finalDepth = 1051.195761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.858696 # Actual altitude: 56.858696 # Commanded vehicle depth:1051.195761 # Seafloor depth:-1108.054457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.37; MB_Bottom_Detect_Filter_Max_Range = 227.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 75.446635 meters # Minimum depth: 1096.381290 meters looking forward 100.000000 meters along route # Maximum depth: 1102.869936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.381290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.769796; longitude = -122.037669; captureRadius = 10; duration = 75; initialDepth = 1042.779855; finalDepth = 1046.381290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.858696 # Actual altitude: 56.858696 # Commanded vehicle depth:1046.38129 # Seafloor depth:-1100.661413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.37; MB_Bottom_Detect_Filter_Max_Range = 227.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 75.446635 meters # Minimum depth: 1092.779855 meters looking forward 100.000000 meters along route # Maximum depth: 1096.992032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.779855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.770472; longitude = -122.037505; captureRadius = 10; duration = 75; initialDepth = 1041.660632; finalDepth = 1042.779855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.280123 # Actual altitude: 54.280123 # Commanded vehicle depth:1042.779855 # Seafloor depth:-1096.091823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.12; 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 = 217.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 75.446635 meters # Minimum depth: 1091.660632 meters looking forward 100.000000 meters along route # Maximum depth: 1093.441525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.660632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.771148; longitude = -122.037340; captureRadius = 10; duration = 75; initialDepth = 1041.660632; finalDepth = 1041.660632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.311968 # Actual altitude: 53.311968 # Commanded vehicle depth:1041.660632 # Seafloor depth:-1092.582109 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.25; 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 = 213.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 75.446635 meters # Minimum depth: 1091.660632 meters looking forward 100.000000 meters along route # Maximum depth: 1095.704862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.660632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.771839; longitude = -122.037172; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1044.526658; finalDepth = 1041.660632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.656751 # Actual altitude: 51.656751 # Commanded vehicle depth:1041.660632 # Seafloor depth:-1093.317383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.63; 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 = 206.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 75.446635 meters # Minimum depth: 1094.526658 meters looking forward 100.000000 meters along route # Maximum depth: 1100.812752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.526658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.772310; longitude = -122.036967; captureRadius = 10; duration = 75; initialDepth = 1044.933126; finalDepth = 1044.526658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.656751 # Actual altitude: 51.656751 # Commanded vehicle depth:1044.526658 # Seafloor depth:-1096.048173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.63; 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 = 206.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 75.446635 meters # Minimum depth: 1094.933126 meters looking forward 100.000000 meters along route # Maximum depth: 1100.931181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.933126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.772952; longitude = -122.036687; captureRadius = 10; duration = 75; initialDepth = 1040.516153; finalDepth = 1044.933126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8825960000001 # Actual altitude: 55.8825960000001 # Commanded vehicle depth:1044.933126 # Seafloor depth:-1100.815722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.18; MB_Bottom_Detect_Filter_Max_Range = 223.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 75.446635 meters # Minimum depth: 1090.516153 meters looking forward 100.000000 meters along route # Maximum depth: 1096.771887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.516153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.773627; longitude = -122.036392; captureRadius = 10; duration = 75; initialDepth = 1040.516153; finalDepth = 1040.516153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8825960000001 # Actual altitude: 55.8825960000001 # Commanded vehicle depth:1040.516153 # Seafloor depth:-1094.447899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.18; MB_Bottom_Detect_Filter_Max_Range = 223.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 75.446635 meters # Minimum depth: 1090.516153 meters looking forward 100.000000 meters along route # Maximum depth: 1098.048274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.516153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774303; longitude = -122.036097; captureRadius = 10; duration = 75; initialDepth = 1042.038449; finalDepth = 1040.516153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.931746 # Actual altitude: 53.931746 # Commanded vehicle depth:1040.516153 # Seafloor depth:-1091.257491 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.73; 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 = 215.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 75.446635 meters # Minimum depth: 1092.038449 meters looking forward 100.000000 meters along route # Maximum depth: 1098.290365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.038449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774964; longitude = -122.035809; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1043.472495; finalDepth = 1042.038449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2519160000002 # Actual altitude: 56.2519160000002 # Commanded vehicle depth:1042.038449 # Seafloor depth:-1098.290365 # 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 32 # Segment length 75.446635 meters # Minimum depth: 1093.472495 meters looking forward 100.000000 meters along route # Maximum depth: 1098.287722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.472495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775148; longitude = -122.035566; captureRadius = 10; duration = 75; initialDepth = 1038.762923; finalDepth = 1043.472495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2519160000002 # Actual altitude: 56.2519160000002 # Commanded vehicle depth:1043.472495 # Seafloor depth:-1098.231352 # 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 32 # Segment length 75.446635 meters # Minimum depth: 1088.762923 meters looking forward 100.000000 meters along route # Maximum depth: 1095.200952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.762923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775617; longitude = -122.034950; captureRadius = 10; duration = 75; initialDepth = 1033.249212; finalDepth = 1038.762923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.758857 # Actual altitude: 54.758857 # Commanded vehicle depth:1038.762923 # Seafloor depth:-1093.362813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.04; 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 = 219.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 75.446635 meters # Minimum depth: 1083.249212 meters looking forward 100.000000 meters along route # Maximum depth: 1090.162519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.249212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776086; longitude = -122.034334; captureRadius = 10; duration = 75; initialDepth = 1033.249212; finalDepth = 1033.249212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.054122 # Actual altitude: 55.054122 # Commanded vehicle depth:1033.249212 # Seafloor depth:-1088.303334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.01; MB_Bottom_Detect_Filter_Max_Range = 220.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 75.446635 meters # Minimum depth: 1083.249212 meters looking forward 100.000000 meters along route # Maximum depth: 1086.575099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.249212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776556; longitude = -122.033717; captureRadius = 10; duration = 75; initialDepth = 1032.901389; finalDepth = 1033.249212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.054122 # Actual altitude: 55.054122 # Commanded vehicle depth:1033.249212 # Seafloor depth:-1083.374684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.01; MB_Bottom_Detect_Filter_Max_Range = 220.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 75.446635 meters # Minimum depth: 1082.901389 meters looking forward 100.000000 meters along route # Maximum depth: 1086.575099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.901389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777024; longitude = -122.033102; captureRadius = 10; duration = 75; initialDepth = 1022.965888; finalDepth = 1032.901389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2309319999999 # Actual altitude: 53.2309319999999 # Commanded vehicle depth:1032.901389 # Seafloor depth:-1086.132321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.92; 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 = 212.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 75.446635 meters # Minimum depth: 1072.965888 meters looking forward 100.000000 meters along route # Maximum depth: 1084.072972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.965888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777493; longitude = -122.032485; captureRadius = 10; duration = 75; initialDepth = 1019.577435; finalDepth = 1022.965888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.372228 # Actual altitude: 59.372228 # Commanded vehicle depth:1022.965888 # Seafloor depth:-1082.338116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.87; MB_Bottom_Detect_Filter_Max_Range = 237.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 75.446635 meters # Minimum depth: 1069.577435 meters looking forward 100.000000 meters along route # Maximum depth: 1075.118673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.577435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777962; longitude = -122.031869; captureRadius = 10; duration = 75; initialDepth = 1018.924900; finalDepth = 1019.577435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.372228 # Actual altitude: 59.372228 # Commanded vehicle depth:1019.577435 # Seafloor depth:-1072.788310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.87; MB_Bottom_Detect_Filter_Max_Range = 237.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 75.446635 meters # Minimum depth: 1068.924900 meters looking forward 100.000000 meters along route # Maximum depth: 1070.136706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.924900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778448; longitude = -122.031231; captureRadius = 10; duration = 75; initialDepth = 1018.924900; finalDepth = 1018.924900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.210875 # Actual altitude: 53.210875 # Commanded vehicle depth:1018.9249 # Seafloor depth:-1069.468743 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.84; 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 = 212.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 75.446635 meters # Minimum depth: 1068.924900 meters looking forward 100.000000 meters along route # Maximum depth: 1069.969554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.924900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778929; longitude = -122.030599; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1017.529096; finalDepth = 1018.924900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5438429999999 # Actual altitude: 50.5438429999999 # Commanded vehicle depth:1018.9249 # Seafloor depth:-1069.289062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.11; MB_Bottom_Detect_Filter_Max_Range = 202.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.446635 meters # Minimum depth: 1067.529096 meters looking forward 100.000000 meters along route # Maximum depth: 1069.546660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.529096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778944; longitude = -122.030575; captureRadius = 10; duration = 75; initialDepth = 1017.545956; finalDepth = 1017.529096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6303310000001 # Actual altitude: 51.6303310000001 # Commanded vehicle depth:1017.529096 # Seafloor depth:-1069.159427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.52; 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 = 206.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.446635 meters # Minimum depth: 1067.545956 meters looking forward 100.000000 meters along route # Maximum depth: 1068.348214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.545956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779363; longitude = -122.029908; captureRadius = 10; duration = 75; initialDepth = 1012.484682; finalDepth = 1017.545956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6303310000001 # Actual altitude: 51.6303310000001 # Commanded vehicle depth:1017.545956 # Seafloor depth:-1067.613234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.52; 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 = 206.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.446635 meters # Minimum depth: 1062.484682 meters looking forward 100.000000 meters along route # Maximum depth: 1068.101163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.484682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779785; longitude = -122.029236; captureRadius = 10; duration = 75; initialDepth = 1007.732968; finalDepth = 1012.484682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8501160000001 # Actual altitude: 54.8501160000001 # Commanded vehicle depth:1012.484682 # Seafloor depth:-1067.334798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.40; 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 = 219.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.446635 meters # Minimum depth: 1057.732968 meters looking forward 100.000000 meters along route # Maximum depth: 1063.754242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.732968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780207; longitude = -122.028564; captureRadius = 10; duration = 75; initialDepth = 997.800519; finalDepth = 1007.732968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8501160000001 # Actual altitude: 54.8501160000001 # Commanded vehicle depth:1007.732968 # Seafloor depth:-1062.465467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.40; 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 = 219.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.446635 meters # Minimum depth: 1047.800519 meters looking forward 100.000000 meters along route # Maximum depth: 1058.875077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.800519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780630; longitude = -122.027892; captureRadius = 10; duration = 75; initialDepth = 984.931134; finalDepth = 997.800519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.6098350000002 # Actual altitude: 59.6098350000002 # Commanded vehicle depth:997.800519 # Seafloor depth:-1057.410354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.92; MB_Bottom_Detect_Filter_Max_Range = 238.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.446635 meters # Minimum depth: 1034.931134 meters looking forward 100.000000 meters along route # Maximum depth: 1049.447069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.931134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781062; longitude = -122.027204; captureRadius = 10; duration = 75; initialDepth = 979.161212; finalDepth = 984.931134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.6351040000002 # Actual altitude: 62.6351040000002 # Commanded vehicle depth:984.931134 # Seafloor depth:-1047.566238 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.53; MB_Bottom_Detect_Filter_Max_Range = 250.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 75.446635 meters # Minimum depth: 1029.161212 meters looking forward 100.000000 meters along route # Maximum depth: 1046.003290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.161212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781497; longitude = -122.026510; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 963.548782; finalDepth = 979.161212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.6351040000002 # Actual altitude: 62.6351040000002 # Commanded vehicle depth:979.161212 # Seafloor depth:-1034.177897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.53; MB_Bottom_Detect_Filter_Max_Range = 250.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 75.446635 meters # Minimum depth: 1013.548782 meters looking forward 100.000000 meters along route # Maximum depth: 1032.502808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.548782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781630; longitude = -122.026211; captureRadius = 10; duration = 75; initialDepth = 960.363165; finalDepth = 963.548782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.1870090000001 # Actual altitude: 64.1870090000001 # Commanded vehicle depth:963.548782 # Seafloor depth:-1027.735791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.84; MB_Bottom_Detect_Filter_Max_Range = 256.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 75.446635 meters # Minimum depth: 1010.363165 meters looking forward 100.000000 meters along route # Maximum depth: 1015.733204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.363165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781963; longitude = -122.025458; captureRadius = 10; duration = 75; initialDepth = 960.950452; finalDepth = 960.363165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.1870090000001 # Actual altitude: 64.1870090000001 # Commanded vehicle depth:960.363165 # Seafloor depth:-1013.266912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.84; MB_Bottom_Detect_Filter_Max_Range = 256.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 75.446635 meters # Minimum depth: 1010.950452 meters looking forward 100.000000 meters along route # Maximum depth: 1016.295732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.950452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782299; longitude = -122.024699; captureRadius = 10; duration = 75; initialDepth = 965.265503; finalDepth = 960.950452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9037470000001 # Actual altitude: 52.9037470000001 # Commanded vehicle depth:960.950452 # Seafloor depth:-1012.506619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.61; 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 = 211.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 75.446635 meters # Minimum depth: 1015.265503 meters looking forward 100.000000 meters along route # Maximum depth: 1023.178290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.265503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782646; longitude = -122.023914; captureRadius = 10; duration = 75; initialDepth = 964.444746; finalDepth = 965.265503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.556167 # Actual altitude: 51.556167 # Commanded vehicle depth:965.265503 # Seafloor depth:-1016.330661 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.22; 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 = 206.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 75.446635 meters # Minimum depth: 1014.444746 meters looking forward 100.000000 meters along route # Maximum depth: 1023.501953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.444746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782984; longitude = -122.023149; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 960.085402; finalDepth = 964.444746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.0572069999999 # Actual altitude: 59.0572069999999 # Commanded vehicle depth:964.444746 # Seafloor depth:-1023.501953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.81; MB_Bottom_Detect_Filter_Max_Range = 236.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.446635 meters # Minimum depth: 1010.085402 meters looking forward 100.000000 meters along route # Maximum depth: 1015.191903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.085402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782795; longitude = -122.022514; captureRadius = 10; duration = 75; initialDepth = 959.451929; finalDepth = 960.085402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.0572069999999 # Actual altitude: 59.0572069999999 # Commanded vehicle depth:960.085402 # Seafloor depth:-1014.249510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.81; MB_Bottom_Detect_Filter_Max_Range = 236.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.446635 meters # Minimum depth: 1009.451929 meters looking forward 100.000000 meters along route # Maximum depth: 1011.911020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.451929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782544; longitude = -122.021674; captureRadius = 10; duration = 75; initialDepth = 961.171749; finalDepth = 959.451929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1641079999999 # Actual altitude: 54.1641079999999 # Commanded vehicle depth:959.451929 # Seafloor depth:-1010.008032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.66; 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 = 216.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.446635 meters # Minimum depth: 1011.171749 meters looking forward 100.000000 meters along route # Maximum depth: 1013.710041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.171749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782293; longitude = -122.020833; captureRadius = 10; duration = 75; initialDepth = 962.174561; finalDepth = 961.171749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.701108 # Actual altitude: 50.701108 # Commanded vehicle depth:961.171749 # Seafloor depth:-1011.872857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.14; MB_Bottom_Detect_Filter_Max_Range = 202.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.446635 meters # Minimum depth: 1012.174561 meters looking forward 100.000000 meters along route # Maximum depth: 1018.504632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.174561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782053; longitude = -122.020032; captureRadius = 10; duration = 75; initialDepth = 963.387659; finalDepth = 962.174561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.67472 # Actual altitude: 51.67472 # Commanded vehicle depth:962.174561 # Seafloor depth:-1013.849281 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.70; 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 = 206.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 75.446635 meters # Minimum depth: 1013.387659 meters looking forward 100.000000 meters along route # Maximum depth: 1019.177426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.387659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781813; longitude = -122.019228; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 967.695448; finalDepth = 963.387659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.377071 # Actual altitude: 55.377071 # Commanded vehicle depth:963.387659 # Seafloor depth:-1018.764730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.51; 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 = 221.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.446635 meters # Minimum depth: 1018.419471 meters looking forward 100.000000 meters along route # Maximum depth: 1021.406529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.695448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781737; longitude = -122.019097; captureRadius = 10; duration = 75; initialDepth = 966.424129; finalDepth = 967.695448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.377071 # Actual altitude: 55.377071 # Commanded vehicle depth:967.6954478 # Seafloor depth:-1019.179904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.51; 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 = 221.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.446635 meters # Minimum depth: 1016.424129 meters looking forward 100.000000 meters along route # Maximum depth: 1021.406529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.424129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781332; longitude = -122.018395; captureRadius = 10; duration = 75; initialDepth = 958.147416; finalDepth = 966.424129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.957692 # Actual altitude: 54.957692 # Commanded vehicle depth:966.424129 # Seafloor depth:-1021.381821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.99; MB_Bottom_Detect_Filter_Max_Range = 219.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.446635 meters # Minimum depth: 1008.147416 meters looking forward 100.000000 meters along route # Maximum depth: 1018.184862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.147416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780927; longitude = -122.017693; captureRadius = 10; duration = 75; initialDepth = 952.371688; finalDepth = 958.147416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2389499999999 # Actual altitude: 58.2389499999999 # Commanded vehicle depth:958.147416 # Seafloor depth:-1016.386366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.65; MB_Bottom_Detect_Filter_Max_Range = 232.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.446635 meters # Minimum depth: 1002.371688 meters looking forward 100.000000 meters along route # Maximum depth: 1010.149486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.371688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780521; longitude = -122.016991; captureRadius = 10; duration = 75; initialDepth = 950.844565; finalDepth = 952.371688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2389499999999 # Actual altitude: 58.2389499999999 # Commanded vehicle depth:952.371688 # Seafloor depth:-1007.743959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.65; MB_Bottom_Detect_Filter_Max_Range = 232.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.446635 meters # Minimum depth: 1000.844565 meters looking forward 100.000000 meters along route # Maximum depth: 1003.780817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.844565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780116; longitude = -122.016289; captureRadius = 10; duration = 75; initialDepth = 950.844565; finalDepth = 950.844565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3722710000001 # Actual altitude: 55.3722710000001 # Commanded vehicle depth:950.844565 # Seafloor depth:-1002.317755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.49; 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 = 221.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.446635 meters # Minimum depth: 1000.844565 meters looking forward 100.000000 meters along route # Maximum depth: 1003.891764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.844565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779699; longitude = -122.015568; captureRadius = 10; duration = 75; initialDepth = 950.844565; finalDepth = 950.844565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.47319 # Actual altitude: 51.47319 # Commanded vehicle depth:950.844565 # Seafloor depth:-1000.855090 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 75.446635 meters # Minimum depth: 1000.844565 meters looking forward 100.000000 meters along route # Maximum depth: 1005.834910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.844565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779289; longitude = -122.014858; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 953.822494; finalDepth = 950.844565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.232258 # Actual altitude: 53.232258 # Commanded vehicle depth:950.844565 # Seafloor depth:-1004.076823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.93; 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 = 212.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 75.446635 meters # Minimum depth: 1003.822494 meters looking forward 100.000000 meters along route # Maximum depth: 1011.523508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.822494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779395; longitude = -122.014766; captureRadius = 10; duration = 75; initialDepth = 960.857673; finalDepth = 953.822494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.232258 # Actual altitude: 53.232258 # Commanded vehicle depth:953.822494 # Seafloor depth:-1006.207494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.93; 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 = 212.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 75.446635 meters # Minimum depth: 1010.857673 meters looking forward 100.000000 meters along route # Maximum depth: 1013.028654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.857673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779980; longitude = -122.014253; captureRadius = 10; duration = 75; initialDepth = 959.739002; finalDepth = 960.857673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.385 # Actual altitude: 52.385 # Commanded vehicle depth:960.857673 # Seafloor depth:-1011.776947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.54; 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 = 209.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 75.446635 meters # Minimum depth: 1009.739002 meters looking forward 100.000000 meters along route # Maximum depth: 1012.313487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.739002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780566; longitude = -122.013739; captureRadius = 10; duration = 75; initialDepth = 959.057949; finalDepth = 959.739002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 52.228676 # Actual altitude: 52.228676 # Commanded vehicle depth:959.739002 # Seafloor depth:-1011.967678 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; 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 to get to end of line 26 # Segment length 75.446635 meters # Minimum depth: 1009.057949 meters looking forward 100.000000 meters along route # Maximum depth: 1011.586140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.057949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781122; longitude = -122.013252; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 959.057949; finalDepth = 959.057949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.228676 # Actual altitude: 52.228676 # Commanded vehicle depth:959.057949 # Seafloor depth:-1009.439290 # 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 26 # Segment length 75.446635 meters # Minimum depth: 1009.057949 meters looking forward 100.000000 meters along route # Maximum depth: 1013.260454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.057949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781377; longitude = -122.013697; captureRadius = 10; duration = 75; initialDepth = 962.183463; finalDepth = 959.057949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.381341 # Actual altitude: 50.381341 # Commanded vehicle depth:959.057949 # Seafloor depth:-1009.119116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.08; MB_Bottom_Detect_Filter_Max_Range = 201.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 75.446635 meters # Minimum depth: 1012.183463 meters looking forward 100.000000 meters along route # Maximum depth: 1017.924731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.183463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781783; longitude = -122.014403; captureRadius = 10; duration = 75; initialDepth = 966.664917; finalDepth = 962.183463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1351040000001 # Actual altitude: 51.1351040000001 # Commanded vehicle depth:962.183463 # Seafloor depth:-1013.318567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 204.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 75.446635 meters # Minimum depth: 1016.664917 meters looking forward 100.000000 meters along route # Maximum depth: 1020.683428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.664917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782195; longitude = -122.015120; captureRadius = 10; duration = 75; initialDepth = 970.352766; finalDepth = 966.664917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.318211 # Actual altitude: 51.318211 # Commanded vehicle depth:966.664917 # Seafloor depth:-1017.983128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.27; 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 = 205.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 75.446635 meters # Minimum depth: 1020.352766 meters looking forward 100.000000 meters along route # Maximum depth: 1021.175745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.352766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782594; longitude = -122.015814; captureRadius = 10; duration = 75; initialDepth = 970.992972; finalDepth = 970.352766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.318211 # Actual altitude: 51.318211 # Commanded vehicle depth:970.352766 # Seafloor depth:-1020.703625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.27; 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 = 205.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 75.446635 meters # Minimum depth: 1020.992972 meters looking forward 100.000000 meters along route # Maximum depth: 1023.441882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.992972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782999; longitude = -122.016520; captureRadius = 10; duration = 75; initialDepth = 973.025647; finalDepth = 970.992972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.350859 # Actual altitude: 50.350859 # Commanded vehicle depth:970.992972 # Seafloor depth:-1021.092346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.07; MB_Bottom_Detect_Filter_Max_Range = 201.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 75.446635 meters # Minimum depth: 1023.025647 meters looking forward 100.000000 meters along route # Maximum depth: 1023.823730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.025647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783418; longitude = -122.017248; captureRadius = 10; duration = 75; initialDepth = 973.471994; finalDepth = 973.025647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4634629999999 # Actual altitude: 50.4634629999999 # Commanded vehicle depth:973.025647 # Seafloor depth:-1023.489110 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.09; MB_Bottom_Detect_Filter_Max_Range = 201.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 75.446635 meters # Minimum depth: 1023.471994 meters looking forward 100.000000 meters along route # Maximum depth: 1024.188753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.471994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783826; longitude = -122.017958; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 973.859845; finalDepth = 973.471994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4634629999999 # Actual altitude: 50.4634629999999 # Commanded vehicle depth:973.471994 # Seafloor depth:-1023.732666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.09; MB_Bottom_Detect_Filter_Max_Range = 201.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 75.446635 meters # Minimum depth: 1023.859845 meters looking forward 100.000000 meters along route # Maximum depth: 1027.168014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.859845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783894; longitude = -122.018369; captureRadius = 10; duration = 75; initialDepth = 975.741345; finalDepth = 973.859845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.260672 # Actual altitude: 50.260672 # Commanded vehicle depth:973.859845 # Seafloor depth:-1023.949015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.05; MB_Bottom_Detect_Filter_Max_Range = 201.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 75.446635 meters # Minimum depth: 1025.741345 meters looking forward 100.000000 meters along route # Maximum depth: 1031.408093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.741345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784033; longitude = -122.019209; captureRadius = 10; duration = 75; initialDepth = 980.723006; finalDepth = 975.741345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8619430000001 # Actual altitude: 51.8619430000001 # Commanded vehicle depth:975.741345 # Seafloor depth:-1027.603288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.45; 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 = 207.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 75.446635 meters # Minimum depth: 1030.723006 meters looking forward 100.000000 meters along route # Maximum depth: 1033.583217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.723006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784172; longitude = -122.020049; captureRadius = 10; duration = 75; initialDepth = 983.067888; finalDepth = 980.723006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8619430000001 # Actual altitude: 51.8619430000001 # Commanded vehicle depth:980.723006 # Seafloor depth:-1031.419005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.45; 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 = 207.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 75.446635 meters # Minimum depth: 1033.067888 meters looking forward 100.000000 meters along route # Maximum depth: 1037.792014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.067888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784311; longitude = -122.020889; captureRadius = 10; duration = 75; initialDepth = 984.010584; finalDepth = 983.067888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.695999 # Actual altitude: 50.695999 # Commanded vehicle depth:983.067888 # Seafloor depth:-1033.657297 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.14; MB_Bottom_Detect_Filter_Max_Range = 202.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 75.446635 meters # Minimum depth: 1034.010584 meters looking forward 100.000000 meters along route # Maximum depth: 1040.064114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.010584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784456; longitude = -122.021767; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 989.080996; finalDepth = 984.010584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.04215 # Actual altitude: 54.04215 # Commanded vehicle depth:984.010584 # Seafloor depth:-1038.052734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.17; 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 = 216.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 75.446635 meters # Minimum depth: 1039.080996 meters looking forward 100.000000 meters along route # Maximum depth: 1043.093090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.080996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784453; longitude = -122.022122; captureRadius = 10; duration = 75; initialDepth = 992.654962; finalDepth = 989.080996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.04215 # Actual altitude: 54.04215 # Commanded vehicle depth:989.080996 # Seafloor depth:-1040.295611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.17; 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 = 216.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 75.446635 meters # Minimum depth: 1042.654962 meters looking forward 100.000000 meters along route # Maximum depth: 1044.884879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.654962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784444; longitude = -122.023018; captureRadius = 10; duration = 75; initialDepth = 993.993799; finalDepth = 992.654962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2146150000001 # Actual altitude: 51.2146150000001 # Commanded vehicle depth:992.654962 # Seafloor depth:-1043.322217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.86; 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 = 204.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 75.446635 meters # Minimum depth: 1043.993799 meters looking forward 100.000000 meters along route # Maximum depth: 1050.189095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.993799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784435; longitude = -122.023914; captureRadius = 10; duration = 75; initialDepth = 998.112309; finalDepth = 993.993799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9192519999999 # Actual altitude: 50.9192519999999 # Commanded vehicle depth:993.993799 # Seafloor depth:-1044.913051 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.68; 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 = 203.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 75.446635 meters # Minimum depth: 1048.112309 meters looking forward 100.000000 meters along route # Maximum depth: 1054.043484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.112309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784426; longitude = -122.024773; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1003.276096; finalDepth = 998.112309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0943969999998 # Actual altitude: 52.0943969999998 # Commanded vehicle depth:998.112309 # Seafloor depth:-1050.206706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.38; 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 = 208.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 75.446635 meters # Minimum depth: 1053.276096 meters looking forward 100.000000 meters along route # Maximum depth: 1054.984606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.276096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784236; longitude = -122.025483; captureRadius = 10; duration = 75; initialDepth = 1002.691854; finalDepth = 1003.276096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0943969999998 # Actual altitude: 52.0943969999998 # Commanded vehicle depth:1003.276096 # Seafloor depth:-1054.319512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.38; 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 = 208.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 75.446635 meters # Minimum depth: 1052.691854 meters looking forward 100.000000 meters along route # Maximum depth: 1053.884318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.691854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784011; longitude = -122.026323; captureRadius = 10; duration = 75; initialDepth = 1003.151096; finalDepth = 1002.691854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.043416 # Actual altitude: 51.043416 # Commanded vehicle depth:1002.691854 # Seafloor depth:-1053.636122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.21; MB_Bottom_Detect_Filter_Max_Range = 204.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 75.446635 meters # Minimum depth: 1053.151096 meters looking forward 100.000000 meters along route # Maximum depth: 1053.828735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.151096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783786; longitude = -122.027164; captureRadius = 10; duration = 75; initialDepth = 1003.390951; finalDepth = 1003.151096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.944268 # Actual altitude: 50.944268 # Commanded vehicle depth:1003.151096 # Seafloor depth:-1053.701579 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.19; MB_Bottom_Detect_Filter_Max_Range = 203.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 75.446635 meters # Minimum depth: 1053.390951 meters looking forward 100.000000 meters along route # Maximum depth: 1055.236311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.390951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783570; longitude = -122.027966; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1004.203387; finalDepth = 1003.390951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.550483 # Actual altitude: 50.550483 # Commanded vehicle depth:1003.390951 # Seafloor depth:-1053.390951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.11; MB_Bottom_Detect_Filter_Max_Range = 202.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 75.446635 meters # Minimum depth: 1054.203387 meters looking forward 100.000000 meters along route # Maximum depth: 1060.627952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.203387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783405; longitude = -122.028228; captureRadius = 10; duration = 75; initialDepth = 1009.480236; finalDepth = 1004.203387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9639709999999 # Actual altitude: 51.9639709999999 # Commanded vehicle depth:1004.203387 # Seafloor depth:-1056.167358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.39; MB_Bottom_Detect_Filter_Max_Range = 207.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 75.446635 meters # Minimum depth: 1059.480236 meters looking forward 100.000000 meters along route # Maximum depth: 1064.924006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.480236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782980; longitude = -122.028900; captureRadius = 10; duration = 75; initialDepth = 1012.774711; finalDepth = 1009.480236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9639709999999 # Actual altitude: 51.9639709999999 # Commanded vehicle depth:1009.480236 # Seafloor depth:-1060.871530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.39; MB_Bottom_Detect_Filter_Max_Range = 207.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 75.446635 meters # Minimum depth: 1062.774711 meters looking forward 100.000000 meters along route # Maximum depth: 1064.924006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.774711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782549; longitude = -122.029583; captureRadius = 10; duration = 75; initialDepth = 1012.616804; finalDepth = 1012.774711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.922255 # Actual altitude: 51.922255 # Commanded vehicle depth:1012.774711 # Seafloor depth:-1064.696966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.69; 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 = 207.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 75.446635 meters # Minimum depth: 1062.616804 meters looking forward 100.000000 meters along route # Maximum depth: 1065.098650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.616804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782130; longitude = -122.030245; captureRadius = 10; duration = 75; initialDepth = 1013.998108; finalDepth = 1012.616804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.922255 # Actual altitude: 51.922255 # Commanded vehicle depth:1012.616804 # Seafloor depth:-1063.140625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.69; 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 = 207.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 75.446635 meters # Minimum depth: 1063.998108 meters looking forward 100.000000 meters along route # Maximum depth: 1074.379081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.998108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781693; longitude = -122.030937; captureRadius = 10; duration = 75; initialDepth = 1014.416103; finalDepth = 1013.998108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.448525 # Actual altitude: 51.448525 # Commanded vehicle depth:1013.998108 # Seafloor depth:-1065.446633 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.79; 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 = 205.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 75.446635 meters # Minimum depth: 1064.416103 meters looking forward 100.000000 meters along route # Maximum depth: 1074.379081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.416103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781257; longitude = -122.031626; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1017.473839; finalDepth = 1014.416103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.959141 # Actual altitude: 59.959141 # Commanded vehicle depth:1014.416103 # Seafloor depth:-1074.375244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.99; MB_Bottom_Detect_Filter_Max_Range = 239.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.446635 meters # Minimum depth: 1074.275440 meters looking forward 100.000000 meters along route # Maximum depth: 1075.963658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.473839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781197; longitude = -122.031713; captureRadius = 10; duration = 75; initialDepth = 1024.035545; finalDepth = 1017.473839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.959141 # Actual altitude: 59.959141 # Commanded vehicle depth:1017.4738389 # Seafloor depth:-1074.286015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.99; MB_Bottom_Detect_Filter_Max_Range = 239.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.446635 meters # Minimum depth: 1074.035545 meters looking forward 100.000000 meters along route # Maximum depth: 1076.330013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.035545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780746; longitude = -122.032361; captureRadius = 10; duration = 75; initialDepth = 1017.261455; finalDepth = 1024.035545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8121761 # Actual altitude: 56.8121761 # Commanded vehicle depth:1024.035545 # Seafloor depth:-1076.105103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.25; 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 = 227.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.446635 meters # Minimum depth: 1067.261455 meters looking forward 100.000000 meters along route # Maximum depth: 1074.924553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.261455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780296; longitude = -122.033009; captureRadius = 10; duration = 75; initialDepth = 1003.598776; finalDepth = 1017.261455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.718848 # Actual altitude: 56.718848 # Commanded vehicle depth:1017.261455 # Seafloor depth:-1073.980303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.34; MB_Bottom_Detect_Filter_Max_Range = 226.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.446635 meters # Minimum depth: 1053.598776 meters looking forward 100.000000 meters along route # Maximum depth: 1070.876383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.598776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779842; longitude = -122.033662; captureRadius = 10; duration = 75; initialDepth = 1001.173732; finalDepth = 1003.598776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.5686839999998 # Actual altitude: 63.5686839999998 # Commanded vehicle depth:1003.598776 # Seafloor depth:-1067.167460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.71; MB_Bottom_Detect_Filter_Max_Range = 254.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.446635 meters # Minimum depth: 1051.173732 meters looking forward 100.000000 meters along route # Maximum depth: 1056.532920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.173732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779395; longitude = -122.034305; captureRadius = 10; duration = 75; initialDepth = 1001.173732; finalDepth = 1001.173732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.5686839999998 # Actual altitude: 63.5686839999998 # Commanded vehicle depth:1001.173732 # Seafloor depth:-1053.309552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.71; MB_Bottom_Detect_Filter_Max_Range = 254.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.446635 meters # Minimum depth: 1051.173732 meters looking forward 100.000000 meters along route # Maximum depth: 1056.975598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.173732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778944; longitude = -122.034953; captureRadius = 10; duration = 75; initialDepth = 1005.000776; finalDepth = 1001.173732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.13582 # Actual altitude: 52.13582 # Commanded vehicle depth:1001.173732 # Seafloor depth:-1051.429368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.54; 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 = 208.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.446635 meters # Minimum depth: 1055.000776 meters looking forward 100.000000 meters along route # Maximum depth: 1079.465624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.000776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778493; longitude = -122.035601; captureRadius = 10; duration = 75; initialDepth = 1024.809335; finalDepth = 1005.000776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5377919999999 # Actual altitude: 52.5377919999999 # Commanded vehicle depth:1005.000776 # Seafloor depth:-1057.538568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.15; 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 = 210.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.446635 meters # Minimum depth: 1074.809335 meters looking forward 100.000000 meters along route # Maximum depth: 1094.334871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.809335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778043; longitude = -122.036249; captureRadius = 10; duration = 75; initialDepth = 1043.444291; finalDepth = 1024.809335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9538670000002 # Actual altitude: 54.9538670000002 # Commanded vehicle depth:1024.809335 # Seafloor depth:-1079.763202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.99; MB_Bottom_Detect_Filter_Max_Range = 219.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.446635 meters # Minimum depth: 1093.444291 meters looking forward 100.000000 meters along route # Maximum depth: 1094.352854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.444291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777583; longitude = -122.036911; captureRadius = 10; duration = 75; initialDepth = 1041.167832; finalDepth = 1043.444291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9538670000002 # Actual altitude: 54.9538670000002 # Commanded vehicle depth:1043.444291 # Seafloor depth:-1094.341302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.99; MB_Bottom_Detect_Filter_Max_Range = 219.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.446635 meters # Minimum depth: 1091.167832 meters looking forward 100.000000 meters along route # Maximum depth: 1093.840655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.167832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777115; longitude = -122.037583; captureRadius = 10; duration = 75; initialDepth = 1040.511277; finalDepth = 1041.167832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.26522 # Actual altitude: 52.26522 # Commanded vehicle depth:1041.167832 # Seafloor depth:-1093.433052 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.06; 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 = 209.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 75.446635 meters # Minimum depth: 1090.511277 meters looking forward 100.000000 meters along route # Maximum depth: 1093.413978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.511277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776661; longitude = -122.038237; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1040.511277; finalDepth = 1040.511277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.26522 # Actual altitude: 52.26522 # Commanded vehicle depth:1040.511277 # Seafloor depth:-1090.696940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.06; 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 = 209.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.446635 meters # Minimum depth: 1090.511277 meters looking forward 100.000000 meters along route # Maximum depth: 1097.760695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.511277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776304; longitude = -122.038367; captureRadius = 10; duration = 75; initialDepth = 1044.504931; finalDepth = 1040.511277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.519317 # Actual altitude: 50.519317 # Commanded vehicle depth:1040.511277 # Seafloor depth:-1091.030594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.08; 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 = 202.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.446635 meters # Minimum depth: 1094.504931 meters looking forward 100.000000 meters along route # Maximum depth: 1106.292099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.504931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775654; longitude = -122.038605; captureRadius = 10; duration = 75; initialDepth = 1055.301316; finalDepth = 1044.504931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.209934 # Actual altitude: 54.209934 # Commanded vehicle depth:1044.504931 # Seafloor depth:-1098.714865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.84; MB_Bottom_Detect_Filter_Max_Range = 216.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.446635 meters # Minimum depth: 1105.301316 meters looking forward 100.000000 meters along route # Maximum depth: 1109.450245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.301316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774979; longitude = -122.038853; captureRadius = 10; duration = 75; initialDepth = 1058.994807; finalDepth = 1055.301316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.209934 # Actual altitude: 54.209934 # Commanded vehicle depth:1055.301316 # Seafloor depth:-1106.525879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.84; MB_Bottom_Detect_Filter_Max_Range = 216.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.446635 meters # Minimum depth: 1108.994807 meters looking forward 100.000000 meters along route # Maximum depth: 1113.274967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.994807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774303; longitude = -122.039100; captureRadius = 10; duration = 75; initialDepth = 1062.546588; finalDepth = 1058.994807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.224563 # Actual altitude: 51.224563 # Commanded vehicle depth:1058.994807 # Seafloor depth:-1109.142243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.90; 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 = 204.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.446635 meters # Minimum depth: 1112.546588 meters looking forward 100.000000 meters along route # Maximum depth: 1116.893838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.546588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.773627; longitude = -122.039348; captureRadius = 10; duration = 75; initialDepth = 1066.160244; finalDepth = 1062.546588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0549250000001 # Actual altitude: 51.0549250000001 # Commanded vehicle depth:1062.546588 # Seafloor depth:-1113.601513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.21; MB_Bottom_Detect_Filter_Max_Range = 204.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.446635 meters # Minimum depth: 1116.160244 meters looking forward 100.000000 meters along route # Maximum depth: 1119.345783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.160244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.772939; longitude = -122.039600; captureRadius = 10; duration = 75; initialDepth = 1069.026164; finalDepth = 1066.160244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0549250000001 # Actual altitude: 51.0549250000001 # Commanded vehicle depth:1066.160244 # Seafloor depth:-1116.957215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.21; MB_Bottom_Detect_Filter_Max_Range = 204.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.446635 meters # Minimum depth: 1119.026164 meters looking forward 100.000000 meters along route # Maximum depth: 1126.345393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.026164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.772275; longitude = -122.039843; captureRadius = 10; duration = 75; initialDepth = 1072.427245; finalDepth = 1069.026164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.796971 # Actual altitude: 50.796971 # Commanded vehicle depth:1069.026164 # Seafloor depth:-1119.605220 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.16; MB_Bottom_Detect_Filter_Max_Range = 203.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 75.446635 meters # Minimum depth: 1122.427245 meters looking forward 100.000000 meters along route # Maximum depth: 1128.043178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.427245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.771614; longitude = -122.040085; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1077.553736; finalDepth = 1072.427245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0519219999999 # Actual altitude: 54.0519219999999 # Commanded vehicle depth:1072.427245 # Seafloor depth:-1126.479167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.21; 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 = 216.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.446635 meters # Minimum depth: 1127.553736 meters looking forward 100.000000 meters along route # Maximum depth: 1129.057414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.553736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.771148; longitude = -122.040141; captureRadius = 10; duration = 75; initialDepth = 1078.584914; finalDepth = 1077.553736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0519219999999 # Actual altitude: 54.0519219999999 # Commanded vehicle depth:1077.553736 # Seafloor depth:-1128.143075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.21; 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 = 216.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.446635 meters # Minimum depth: 1128.584914 meters looking forward 100.000000 meters along route # Maximum depth: 1130.658567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.584914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.770472; longitude = -122.040223; captureRadius = 10; duration = 75; initialDepth = 1079.792002; finalDepth = 1078.584914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5893389999999 # Actual altitude: 50.5893389999999 # Commanded vehicle depth:1078.584914 # Seafloor depth:-1128.584914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.36; 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 = 202.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.446635 meters # Minimum depth: 1129.792002 meters looking forward 100.000000 meters along route # Maximum depth: 1136.331061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.792002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.769796; longitude = -122.040304; captureRadius = 10; duration = 75; initialDepth = 1084.886318; finalDepth = 1079.792002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1629270000001 # Actual altitude: 51.1629270000001 # Commanded vehicle depth:1079.792002 # Seafloor depth:-1130.954929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 204.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.446635 meters # Minimum depth: 1134.886318 meters looking forward 100.000000 meters along route # Maximum depth: 1138.882129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.886318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.769121; longitude = -122.040386; captureRadius = 10; duration = 75; initialDepth = 1088.774352; finalDepth = 1084.886318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5442069999999 # Actual altitude: 51.5442069999999 # Commanded vehicle depth:1084.886318 # Seafloor depth:-1136.430525 # 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 19 # Segment length 75.446635 meters # Minimum depth: 1138.774352 meters looking forward 100.000000 meters along route # Maximum depth: 1142.214461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.774352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.768445; longitude = -122.040467; captureRadius = 10; duration = 75; initialDepth = 1090.425293; finalDepth = 1088.774352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5442069999999 # Actual altitude: 51.5442069999999 # Commanded vehicle depth:1088.774352 # Seafloor depth:-1138.842178 # 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 19 # Segment length 75.446635 meters # Minimum depth: 1140.425293 meters looking forward 100.000000 meters along route # Maximum depth: 1142.214461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.425293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.767769; longitude = -122.040549; captureRadius = 10; duration = 75; initialDepth = 1091.183355; finalDepth = 1090.425293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7307699999999 # Actual altitude: 51.7307699999999 # Commanded vehicle depth:1090.425293 # Seafloor depth:-1142.156063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.92; 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 = 206.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.446635 meters # Minimum depth: 1141.183355 meters looking forward 100.000000 meters along route # Maximum depth: 1142.104806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.183355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.767093; longitude = -122.040630; captureRadius = 10; duration = 75; initialDepth = 1089.481800; finalDepth = 1091.183355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7307699999999 # Actual altitude: 51.7307699999999 # Commanded vehicle depth:1091.183355 # Seafloor depth:-1142.104806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.92; 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 = 206.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.446635 meters # Minimum depth: 1139.481800 meters looking forward 100.000000 meters along route # Maximum depth: 1141.280765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.481800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.766417; longitude = -122.040711; captureRadius = 10; duration = 75; initialDepth = 1089.462646; finalDepth = 1089.481800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5649450000001 # Actual altitude: 51.5649450000001 # Commanded vehicle depth:1089.4818 # Seafloor depth:-1141.046745 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.26; 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 = 206.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 75.446635 meters # Minimum depth: 1139.462646 meters looking forward 100.000000 meters along route # Maximum depth: 1144.396448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.462646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.765726; longitude = -122.040795; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1093.550839; finalDepth = 1089.462646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5649450000001 # Actual altitude: 51.5649450000001 # Commanded vehicle depth:1089.462646 # Seafloor depth:-1139.462646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.26; 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 = 206.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 75.446635 meters # Minimum depth: 1143.550839 meters looking forward 100.000000 meters along route # Maximum depth: 1150.105634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.550839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.765200; longitude = -122.040641; captureRadius = 10; duration = 75; initialDepth = 1098.751221; finalDepth = 1093.550839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0035110000001 # Actual altitude: 51.0035110000001 # Commanded vehicle depth:1093.550839 # Seafloor depth:-1144.554350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.01; 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 = 204.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 75.446635 meters # Minimum depth: 1148.751221 meters looking forward 100.000000 meters along route # Maximum depth: 1153.786564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.751221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.764513; longitude = -122.040440; captureRadius = 10; duration = 75; initialDepth = 1102.575877; finalDepth = 1098.751221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4008180000001 # Actual altitude: 51.4008180000001 # Commanded vehicle depth:1098.751221 # Seafloor depth:-1150.152039 # 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 18 # Segment length 75.446635 meters # Minimum depth: 1152.575877 meters looking forward 100.000000 meters along route # Maximum depth: 1158.170626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.575877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.763848; longitude = -122.040246; captureRadius = 10; duration = 75; initialDepth = 1107.484772; finalDepth = 1102.575877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4456 # Actual altitude: 51.4456 # Commanded vehicle depth:1102.575877 # Seafloor depth:-1154.021477 # 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 18 # Segment length 75.446635 meters # Minimum depth: 1157.484772 meters looking forward 100.000000 meters along route # Maximum depth: 1159.472786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.484772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.763172; longitude = -122.040048; captureRadius = 10; duration = 75; initialDepth = 1109.294836; finalDepth = 1107.484772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4456 # Actual altitude: 51.4456 # Commanded vehicle depth:1107.484772 # Seafloor depth:-1158.306885 # 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 18 # Segment length 75.446635 meters # Minimum depth: 1159.294836 meters looking forward 100.000000 meters along route # Maximum depth: 1160.910968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.294836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.762497; longitude = -122.039850; captureRadius = 10; duration = 75; initialDepth = 1110.726146; finalDepth = 1109.294836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8221129999999 # Actual altitude: 50.8221129999999 # Commanded vehicle depth:1109.294836 # Seafloor depth:-1159.294836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.16; MB_Bottom_Detect_Filter_Max_Range = 203.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 75.446635 meters # Minimum depth: 1160.726146 meters looking forward 100.000000 meters along route # Maximum depth: 1161.498871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.726146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.761821; longitude = -122.039652; captureRadius = 10; duration = 75; initialDepth = 1111.227539; finalDepth = 1110.726146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1110.726146 # Seafloor depth:-1160.726146 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 75.446635 meters # Minimum depth: 1161.227539 meters looking forward 100.000000 meters along route # Maximum depth: 1165.719070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.227539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.761130; longitude = -122.039450; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1114.748414; finalDepth = 1111.227539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1111.227539 # Seafloor depth:-1161.227539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 75.446635 meters # Minimum depth: 1164.748414 meters looking forward 100.000000 meters along route # Maximum depth: 1168.137299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.748414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.760604; longitude = -122.038982; captureRadius = 10; duration = 75; initialDepth = 1117.289258; finalDepth = 1114.748414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9735920000001 # Actual altitude: 50.9735920000001 # Commanded vehicle depth:1114.748414 # Seafloor depth:-1165.722006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.19; MB_Bottom_Detect_Filter_Max_Range = 203.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 75.446635 meters # Minimum depth: 1167.289258 meters looking forward 100.000000 meters along route # Maximum depth: 1170.470552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.289258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.760040; longitude = -122.038479; captureRadius = 10; duration = 75; initialDepth = 1120.092968; finalDepth = 1117.289258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9735920000001 # Actual altitude: 50.9735920000001 # Commanded vehicle depth:1117.289258 # Seafloor depth:-1168.246362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.19; MB_Bottom_Detect_Filter_Max_Range = 203.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 75.446635 meters # Minimum depth: 1170.092968 meters looking forward 100.000000 meters along route # Maximum depth: 1171.825428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.092968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.759474; longitude = -122.037975; captureRadius = 10; duration = 75; initialDepth = 1121.385342; finalDepth = 1120.092968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9571040000001 # Actual altitude: 50.9571040000001 # Commanded vehicle depth:1120.092968 # Seafloor depth:-1170.483702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.19; MB_Bottom_Detect_Filter_Max_Range = 203.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 75.446635 meters # Minimum depth: 1171.385342 meters looking forward 100.000000 meters along route # Maximum depth: 1172.159836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.385342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.758892; longitude = -122.037457; captureRadius = 10; duration = 75; initialDepth = 1110.756285; finalDepth = 1121.385342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3907340000001 # Actual altitude: 50.3907340000001 # Commanded vehicle depth:1121.385342 # Seafloor depth:-1171.635967 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.08; MB_Bottom_Detect_Filter_Max_Range = 201.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 75.446635 meters # Minimum depth: 1160.756285 meters looking forward 100.000000 meters along route # Maximum depth: 1172.280827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.756285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.758321; longitude = -122.036948; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1109.335206; finalDepth = 1110.756285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.491111 # Actual altitude: 61.491111 # Commanded vehicle depth:1110.756285 # Seafloor depth:-1172.247396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.30; MB_Bottom_Detect_Filter_Max_Range = 245.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.446635 meters # Minimum depth: 1159.335206 meters looking forward 100.000000 meters along route # Maximum depth: 1164.756839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.335206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.757765; longitude = -122.036557; captureRadius = 10; duration = 75; initialDepth = 1111.762105; finalDepth = 1109.335206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.491111 # Actual altitude: 61.491111 # Commanded vehicle depth:1109.335206 # Seafloor depth:-1160.053266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.30; MB_Bottom_Detect_Filter_Max_Range = 245.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.446635 meters # Minimum depth: 1161.762105 meters looking forward 100.000000 meters along route # Maximum depth: 1164.360474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.762105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.757134; longitude = -122.036112; captureRadius = 10; duration = 75; initialDepth = 1113.479465; finalDepth = 1111.762105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7180599999999 # Actual altitude: 50.7180599999999 # Commanded vehicle depth:1111.762105 # Seafloor depth:-1162.175365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.14; MB_Bottom_Detect_Filter_Max_Range = 202.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.446635 meters # Minimum depth: 1163.479465 meters looking forward 100.000000 meters along route # Maximum depth: 1170.373126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1113.479465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756503; longitude = -122.035668; captureRadius = 10; duration = 75; initialDepth = 1120.025925; finalDepth = 1113.479465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.991882 # Actual altitude: 50.991882 # Commanded vehicle depth:1113.479465 # Seafloor depth:-1164.471347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.97; 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 = 203.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.446635 meters # Minimum depth: 1170.025925 meters looking forward 100.000000 meters along route # Maximum depth: 1179.030547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.025925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755873; longitude = -122.035223; captureRadius = 10; duration = 75; initialDepth = 1127.379251; finalDepth = 1120.025925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.991882 # Actual altitude: 50.991882 # Commanded vehicle depth:1120.025925 # Seafloor depth:-1170.433845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.97; 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 = 203.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.446635 meters # Minimum depth: 1177.379251 meters looking forward 100.000000 meters along route # Maximum depth: 1187.793993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.379251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755246; longitude = -122.034782; captureRadius = 10; duration = 75; initialDepth = 1136.900052; finalDepth = 1127.379251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.146982 # Actual altitude: 52.146982 # Commanded vehicle depth:1127.379251 # Seafloor depth:-1179.526233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.59; 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 = 208.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.446635 meters # Minimum depth: 1186.900052 meters looking forward 100.000000 meters along route # Maximum depth: 1191.218264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.900052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.754656; longitude = -122.034366; captureRadius = 10; duration = 75; initialDepth = 1140.267437; finalDepth = 1136.900052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.146982 # Actual altitude: 52.146982 # Commanded vehicle depth:1136.900052 # Seafloor depth:-1188.061344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.59; 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 = 208.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.446635 meters # Minimum depth: 1190.267437 meters looking forward 100.000000 meters along route # Maximum depth: 1200.990110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1140.267437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.754025; longitude = -122.033922; captureRadius = 10; duration = 75; initialDepth = 1149.617976; finalDepth = 1140.267437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2186610000001 # Actual altitude: 51.2186610000001 # Commanded vehicle depth:1140.267437 # Seafloor depth:-1191.486098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.87; 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 = 204.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.446635 meters # Minimum depth: 1199.617976 meters looking forward 100.000000 meters along route # Maximum depth: 1203.378961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.617976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.753394; longitude = -122.033477; captureRadius = 10; duration = 75; initialDepth = 1150.727109; finalDepth = 1149.617976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6843160000001 # Actual altitude: 51.6843160000001 # Commanded vehicle depth:1149.617976 # Seafloor depth:-1201.302292 # 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 16 # Segment length 75.446635 meters # Minimum depth: 1200.727109 meters looking forward 100.000000 meters along route # Maximum depth: 1203.378961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1150.727109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752781; longitude = -122.033045; captureRadius = 10; duration = 75; initialDepth = 1150.751234; finalDepth = 1150.727109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.045345 # Actual altitude: 52.045345 # Commanded vehicle depth:1150.727109 # Seafloor depth:-1202.772454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.18; 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 = 208.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.446635 meters # Minimum depth: 1200.751234 meters looking forward 100.000000 meters along route # Maximum depth: 1204.660197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1150.751234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752177; longitude = -122.032620; captureRadius = 10; duration = 75; initialDepth = 1153.448798; finalDepth = 1150.751234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.045345 # Actual altitude: 52.045345 # Commanded vehicle depth:1150.751234 # Seafloor depth:-1201.383515 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.18; 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 = 208.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 75.446635 meters # Minimum depth: 1203.448798 meters looking forward 100.000000 meters along route # Maximum depth: 1208.628478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.448798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751562; longitude = -122.032187; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1157.248228; finalDepth = 1153.448798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3705380000001 # Actual altitude: 51.3705380000001 # Commanded vehicle depth:1153.448798 # Seafloor depth:-1204.819336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.48; 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 = 205.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 75.446635 meters # Minimum depth: 1207.248228 meters looking forward 100.000000 meters along route # Maximum depth: 1210.659271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1157.248228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751135; longitude = -122.031813; captureRadius = 10; duration = 75; initialDepth = 1160.429995; finalDepth = 1157.248228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.440726 # Actual altitude: 51.440726 # Commanded vehicle depth:1157.248228 # Seafloor depth:-1208.688954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.76; 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 = 205.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 75.446635 meters # Minimum depth: 1210.429995 meters looking forward 100.000000 meters along route # Maximum depth: 1211.550554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1160.429995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.750555; longitude = -122.031306; captureRadius = 10; duration = 75; initialDepth = 1161.378890; finalDepth = 1160.429995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.440726 # Actual altitude: 51.440726 # Commanded vehicle depth:1160.429995 # Seafloor depth:-1210.571091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.76; 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 = 205.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 75.446635 meters # Minimum depth: 1211.378890 meters looking forward 100.000000 meters along route # Maximum depth: 1211.550554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1161.378890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749969; longitude = -122.030793; captureRadius = 10; duration = 75; initialDepth = 1161.217642; finalDepth = 1161.378890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1572189999999 # Actual altitude: 50.1572189999999 # Commanded vehicle depth:1161.37889 # Seafloor depth:-1211.536109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.03; MB_Bottom_Detect_Filter_Max_Range = 200.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 75.446635 meters # Minimum depth: 1211.217642 meters looking forward 100.000000 meters along route # Maximum depth: 1211.648754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1161.217642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749384; longitude = -122.030280; captureRadius = 10; duration = 75; initialDepth = 1161.448223; finalDepth = 1161.217642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1624509999999 # Actual altitude: 50.1624509999999 # Commanded vehicle depth:1161.217642 # Seafloor depth:-1211.380093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.03; MB_Bottom_Detect_Filter_Max_Range = 200.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 75.446635 meters # Minimum depth: 1211.448223 meters looking forward 100.000000 meters along route # Maximum depth: 1211.923611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1161.448223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748831; longitude = -122.029796; captureRadius = 10; duration = 75; initialDepth = 1161.885320; finalDepth = 1161.448223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2234859999999 # Actual altitude: 50.2234859999999 # Commanded vehicle depth:1161.448223 # Seafloor depth:-1211.671709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.89; 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 = 200.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 75.446635 meters # Minimum depth: 1211.885320 meters looking forward 100.000000 meters along route # Maximum depth: 1216.953630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1161.885320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748255; longitude = -122.029292; captureRadius = 10; duration = 75; initialDepth = 1164.540039; finalDepth = 1161.885320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2234859999999 # Actual altitude: 50.2234859999999 # Commanded vehicle depth:1161.88532 # Seafloor depth:-1211.893723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.89; 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 = 200.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 75.446635 meters # Minimum depth: 1214.540039 meters looking forward 100.000000 meters along route # Maximum depth: 1223.827667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1164.540039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747671; longitude = -122.028782; captureRadius = 10; duration = 75; initialDepth = 1170.813228; finalDepth = 1164.540039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.577634 # Actual altitude: 52.577634 # Commanded vehicle depth:1164.540039 # Seafloor depth:-1217.117673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.31; 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 = 210.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 75.446635 meters # Minimum depth: 1220.813228 meters looking forward 100.000000 meters along route # Maximum depth: 1223.918583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.813228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747086; longitude = -122.028269; captureRadius = 10; duration = 75; initialDepth = 1170.813228; finalDepth = 1170.813228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.067749 # Actual altitude: 53.067749 # Commanded vehicle depth:1170.813228 # Seafloor depth:-1223.880977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.61; MB_Bottom_Detect_Filter_Max_Range = 212.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 75.446635 meters # Minimum depth: 1220.813228 meters looking forward 100.000000 meters along route # Maximum depth: 1224.151071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.813228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746500; longitude = -122.027756; captureRadius = 10; duration = 75; initialDepth = 1170.813228; finalDepth = 1170.813228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.067749 # Actual altitude: 53.067749 # Commanded vehicle depth:1170.813228 # Seafloor depth:-1221.035377 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.61; MB_Bottom_Detect_Filter_Max_Range = 212.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 75.446635 meters # Minimum depth: 1220.813228 meters looking forward 100.000000 meters along route # Maximum depth: 1224.151071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.813228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745929; longitude = -122.027257; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1172.439804; finalDepth = 1170.813228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2663620000001 # Actual altitude: 53.2663620000001 # Commanded vehicle depth:1170.813228 # Seafloor depth:-1224.079590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.07; 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 = 213.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.446635 meters # Minimum depth: 1222.439804 meters looking forward 100.000000 meters along route # Maximum depth: 1224.151071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1172.439804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745858; longitude = -122.027164; captureRadius = 10; duration = 75; initialDepth = 1172.472038; finalDepth = 1172.439804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2663620000001 # Actual altitude: 53.2663620000001 # Commanded vehicle depth:1172.439804 # Seafloor depth:-1224.007408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.07; 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 = 213.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.446635 meters # Minimum depth: 1222.472038 meters looking forward 100.000000 meters along route # Maximum depth: 1228.072803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1172.472038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745387; longitude = -122.026547; captureRadius = 10; duration = 75; initialDepth = 1176.603706; finalDepth = 1172.472038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5676039999998 # Actual altitude: 51.5676039999998 # Commanded vehicle depth:1172.472038 # Seafloor depth:-1222.983465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.27; 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 = 206.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.446635 meters # Minimum depth: 1226.603706 meters looking forward 100.000000 meters along route # Maximum depth: 1233.588322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1176.603706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744916; longitude = -122.025931; captureRadius = 10; duration = 75; initialDepth = 1181.487480; finalDepth = 1176.603706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.543052 # Actual altitude: 51.543052 # Commanded vehicle depth:1176.603706 # Seafloor depth:-1228.146758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.17; 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 = 206.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.446635 meters # Minimum depth: 1231.487480 meters looking forward 100.000000 meters along route # Maximum depth: 1238.674858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1181.487480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744446; longitude = -122.025315; captureRadius = 10; duration = 75; initialDepth = 1188.321940; finalDepth = 1181.487480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7845 # Actual altitude: 52.7845 # Commanded vehicle depth:1181.48748 # Seafloor depth:-1234.271980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.14; 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 = 211.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.446635 meters # Minimum depth: 1238.321940 meters looking forward 100.000000 meters along route # Maximum depth: 1238.979139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1188.321940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743975; longitude = -122.024699; captureRadius = 10; duration = 75; initialDepth = 1185.052451; finalDepth = 1188.321940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7845 # Actual altitude: 52.7845 # Commanded vehicle depth:1188.32194 # Seafloor depth:-1238.678764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.14; 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 = 211.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.446635 meters # Minimum depth: 1235.052451 meters looking forward 100.000000 meters along route # Maximum depth: 1238.780027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1185.052451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743504; longitude = -122.024083; captureRadius = 10; duration = 75; initialDepth = 1185.052451; finalDepth = 1185.052451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2284050000001 # Actual altitude: 53.2284050000001 # Commanded vehicle depth:1185.052451 # Seafloor depth:-1238.280856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.91; 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 = 212.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.446635 meters # Minimum depth: 1235.052451 meters looking forward 100.000000 meters along route # Maximum depth: 1238.097927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1185.052451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743030; longitude = -122.023462; captureRadius = 10; duration = 75; initialDepth = 1187.331850; finalDepth = 1185.052451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2284050000001 # Actual altitude: 53.2284050000001 # Commanded vehicle depth:1185.052451 # Seafloor depth:-1235.055377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.91; 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 = 212.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.446635 meters # Minimum depth: 1237.331850 meters looking forward 100.000000 meters along route # Maximum depth: 1242.984151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1187.331850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742563; longitude = -122.022850; captureRadius = 10; duration = 75; initialDepth = 1192.175064; finalDepth = 1187.331850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.914336 # Actual altitude: 50.914336 # Commanded vehicle depth:1187.33185 # Seafloor depth:-1238.246186 # 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 14 # Segment length 75.446635 meters # Minimum depth: 1242.175064 meters looking forward 100.000000 meters along route # Maximum depth: 1253.938267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1192.175064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742084; longitude = -122.022223; captureRadius = 10; duration = 75; initialDepth = 1200.713226; finalDepth = 1192.175064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.914336 # Actual altitude: 50.914336 # Commanded vehicle depth:1192.175064 # Seafloor depth:-1243.079175 # 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 14 # Segment length 75.446635 meters # Minimum depth: 1250.713226 meters looking forward 100.000000 meters along route # Maximum depth: 1264.573998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1200.713226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741588; longitude = -122.021574; captureRadius = 10; duration = 75; initialDepth = 1203.539764; finalDepth = 1200.713226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9365619999999 # Actual altitude: 53.9365619999999 # Commanded vehicle depth:1200.713226 # Seafloor depth:-1254.649788 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.75; 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 = 215.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 75.446635 meters # Minimum depth: 1253.539764 meters looking forward 100.000000 meters along route # Maximum depth: 1264.992547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1203.539764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741122; longitude = -122.020964; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1207.903665; finalDepth = 1203.539764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.2206529999999 # Actual altitude: 61.2206529999999 # Commanded vehicle depth:1203.539764 # Seafloor depth:-1264.760417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.24; MB_Bottom_Detect_Filter_Max_Range = 244.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.446635 meters # Minimum depth: 1263.632891 meters looking forward 100.000000 meters along route # Maximum depth: 1265.210501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.903665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741002; longitude = -122.020899; captureRadius = 10; duration = 75; initialDepth = 1213.632891; finalDepth = 1207.903665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.2206529999999 # Actual altitude: 61.2206529999999 # Commanded vehicle depth:1207.9036648 # Seafloor depth:-1265.140666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.24; MB_Bottom_Detect_Filter_Max_Range = 244.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.446635 meters # Minimum depth: 1263.632891 meters looking forward 100.000000 meters along route # Maximum depth: 1275.034526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1213.632891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740365; longitude = -122.020553; captureRadius = 10; duration = 75; initialDepth = 1221.563063; finalDepth = 1213.632891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.2370012000001 # Actual altitude: 57.2370012000001 # Commanded vehicle depth:1213.632891 # Seafloor depth:-1264.653476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.45; MB_Bottom_Detect_Filter_Max_Range = 228.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.446635 meters # Minimum depth: 1271.563063 meters looking forward 100.000000 meters along route # Maximum depth: 1277.845673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1221.563063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739741; longitude = -122.020214; captureRadius = 10; duration = 75; initialDepth = 1227.275834; finalDepth = 1221.563063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5349039999999 # Actual altitude: 53.5349039999999 # Commanded vehicle depth:1221.563063 # Seafloor depth:-1275.097967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.14; 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 = 214.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.446635 meters # Minimum depth: 1277.275834 meters looking forward 100.000000 meters along route # Maximum depth: 1278.815261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1227.275834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739110; longitude = -122.019872; captureRadius = 10; duration = 75; initialDepth = 1228.791201; finalDepth = 1227.275834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5349039999999 # Actual altitude: 53.5349039999999 # Commanded vehicle depth:1227.275834 # Seafloor depth:-1277.918445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.14; 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 = 214.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.446635 meters # Minimum depth: 1278.791201 meters looking forward 100.000000 meters along route # Maximum depth: 1279.717094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.791201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738479; longitude = -122.019530; captureRadius = 10; duration = 75; initialDepth = 1229.526810; finalDepth = 1228.791201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.642611 # Actual altitude: 50.642611 # Commanded vehicle depth:1228.791201 # Seafloor depth:-1278.821419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.13; MB_Bottom_Detect_Filter_Max_Range = 202.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.446635 meters # Minimum depth: 1279.526810 meters looking forward 100.000000 meters along route # Maximum depth: 1282.996727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1229.526810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737848; longitude = -122.019188; captureRadius = 10; duration = 75; initialDepth = 1231.582642; finalDepth = 1229.526810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.201869 # Actual altitude: 50.201869 # Commanded vehicle depth:1229.52681 # Seafloor depth:-1279.728679 # 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 13 # Segment length 75.446635 meters # Minimum depth: 1281.582642 meters looking forward 100.000000 meters along route # Maximum depth: 1286.134946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1231.582642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737217; longitude = -122.018845; captureRadius = 10; duration = 75; initialDepth = 1235.538845; finalDepth = 1231.582642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.837861 # Actual altitude: 51.837861 # Commanded vehicle depth:1231.582642 # Seafloor depth:-1283.420503 # 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 13 # Segment length 75.446635 meters # Minimum depth: 1285.538845 meters looking forward 100.000000 meters along route # Maximum depth: 1288.443162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1235.538845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736586; longitude = -122.018503; captureRadius = 10; duration = 75; initialDepth = 1237.786087; finalDepth = 1235.538845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.837861 # Actual altitude: 51.837861 # Commanded vehicle depth:1235.538845 # Seafloor depth:-1286.340250 # 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 13 # Segment length 75.446635 meters # Minimum depth: 1287.786087 meters looking forward 100.000000 meters along route # Maximum depth: 1292.629398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.786087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735955; longitude = -122.018161; captureRadius = 10; duration = 75; initialDepth = 1241.984285; finalDepth = 1237.786087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9495460000001 # Actual altitude: 50.9495460000001 # Commanded vehicle depth:1237.786087 # Seafloor depth:-1288.735633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.19; MB_Bottom_Detect_Filter_Max_Range = 203.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.446635 meters # Minimum depth: 1291.984285 meters looking forward 100.000000 meters along route # Maximum depth: 1292.726072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1241.984285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735325; longitude = -122.017818; captureRadius = 10; duration = 75; initialDepth = 1242.368600; finalDepth = 1241.984285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9495460000001 # Actual altitude: 50.9495460000001 # Commanded vehicle depth:1241.984285 # Seafloor depth:-1292.699068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.19; MB_Bottom_Detect_Filter_Max_Range = 203.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.446635 meters # Minimum depth: 1292.368600 meters looking forward 100.000000 meters along route # Maximum depth: 1294.758474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1242.368600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734687; longitude = -122.017472; captureRadius = 10; duration = 75; initialDepth = 1242.671077; finalDepth = 1242.368600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7147829999999 # Actual altitude: 50.7147829999999 # Commanded vehicle depth:1242.3686 # Seafloor depth:-1292.642839 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.14; MB_Bottom_Detect_Filter_Max_Range = 202.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 75.446635 meters # Minimum depth: 1292.671077 meters looking forward 100.000000 meters along route # Maximum depth: 1295.644854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1242.671077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734033; longitude = -122.017118; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1244.743245; finalDepth = 1242.671077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0721679999999 # Actual altitude: 52.0721679999999 # Commanded vehicle depth:1242.671077 # Seafloor depth:-1294.743245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.29; 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 = 208.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 75.446635 meters # Minimum depth: 1294.743245 meters looking forward 100.000000 meters along route # Maximum depth: 1301.581511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1244.743245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733916; longitude = -122.017304; captureRadius = 10; duration = 75; initialDepth = 1248.999072; finalDepth = 1244.743245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0721679999999 # Actual altitude: 52.0721679999999 # Commanded vehicle depth:1244.743245 # Seafloor depth:-1295.784180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.29; 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 = 208.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 75.446635 meters # Minimum depth: 1298.999072 meters looking forward 100.000000 meters along route # Maximum depth: 1301.904648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1248.999072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733497; longitude = -122.017976; captureRadius = 10; duration = 75; initialDepth = 1248.999072; finalDepth = 1248.999072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7253599999999 # Actual altitude: 52.7253599999999 # Commanded vehicle depth:1248.999072 # Seafloor depth:-1301.724432 # 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 12 # Segment length 75.446635 meters # Minimum depth: 1298.999072 meters looking forward 100.000000 meters along route # Maximum depth: 1303.059076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1248.999072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733071; longitude = -122.018660; captureRadius = 10; duration = 75; initialDepth = 1251.433680; finalDepth = 1248.999072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7253599999999 # Actual altitude: 52.7253599999999 # Commanded vehicle depth:1248.999072 # Seafloor depth:-1299.069702 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; 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 to get to end of line 11 # Segment length 75.446635 meters # Minimum depth: 1301.433680 meters looking forward 100.000000 meters along route # Maximum depth: 1310.207870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1251.433680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732636; longitude = -122.019358; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1259.201153; finalDepth = 1251.433680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0134229999999 # Actual altitude: 52.0134229999999 # Commanded vehicle depth:1251.43368 # Seafloor depth:-1303.447103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.05; 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 = 208.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.446635 meters # Minimum depth: 1309.201153 meters looking forward 100.000000 meters along route # Maximum depth: 1314.522281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1259.201153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732422; longitude = -122.020049; captureRadius = 10; duration = 75; initialDepth = 1263.701780; finalDepth = 1259.201153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0134229999999 # Actual altitude: 52.0134229999999 # Commanded vehicle depth:1259.201153 # Seafloor depth:-1310.365243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.05; 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 = 208.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.446635 meters # Minimum depth: 1313.701780 meters looking forward 100.000000 meters along route # Maximum depth: 1319.270390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1263.701780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732179; longitude = -122.020833; captureRadius = 10; duration = 75; initialDepth = 1267.064387; finalDepth = 1263.701780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2245789999999 # Actual altitude: 51.2245789999999 # Commanded vehicle depth:1263.70178 # Seafloor depth:-1314.926359 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.90; 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 = 204.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 75.446635 meters # Minimum depth: 1317.064387 meters looking forward 100.000000 meters along route # Maximum depth: 1322.140137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1267.064387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731930; longitude = -122.021636; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1271.331421; finalDepth = 1267.064387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.901026 # Actual altitude: 51.901026 # Commanded vehicle depth:1267.064387 # Seafloor depth:-1318.965413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.60; 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 = 207.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.446635 meters # Minimum depth: 1321.331421 meters looking forward 100.000000 meters along route # Maximum depth: 1328.468201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1271.331421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731584; longitude = -122.021422; captureRadius = 10; duration = 75; initialDepth = 1271.764099; finalDepth = 1271.331421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.901026 # Actual altitude: 51.901026 # Commanded vehicle depth:1271.331421 # Seafloor depth:-1322.600342 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.60; 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 = 207.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 75.446635 meters # Minimum depth: 1321.764099 meters looking forward 100.000000 meters along route # Maximum depth: 1328.709046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1271.764099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730939; longitude = -122.021020; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1274.291061; finalDepth = 1271.764099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.69928 # Actual altitude: 56.69928 # Commanded vehicle depth:1271.764099 # Seafloor depth:-1328.463379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.34; MB_Bottom_Detect_Filter_Max_Range = 226.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 75.446635 meters # Minimum depth: 1328.099121 meters looking forward 100.000000 meters along route # Maximum depth: 1334.447216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1274.291061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730892; longitude = -122.020945; captureRadius = 10; duration = 75; initialDepth = 1283.031934; finalDepth = 1274.291061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.69928 # Actual altitude: 56.69928 # Commanded vehicle depth:1274.2910614 # Seafloor depth:-1328.898118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.34; MB_Bottom_Detect_Filter_Max_Range = 226.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 75.446635 meters # Minimum depth: 1333.031934 meters looking forward 100.000000 meters along route # Maximum depth: 1337.561556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1283.031934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730475; longitude = -122.020273; captureRadius = 10; duration = 75; initialDepth = 1286.645948; finalDepth = 1283.031934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6070566000001 # Actual altitude: 54.6070566000001 # Commanded vehicle depth:1283.031934 # Seafloor depth:-1334.873591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.43; 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 = 218.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 75.446635 meters # Minimum depth: 1336.645948 meters looking forward 100.000000 meters along route # Maximum depth: 1342.289925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1286.645948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730058; longitude = -122.019601; captureRadius = 10; duration = 75; initialDepth = 1291.105287; finalDepth = 1286.645948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8416569999999 # Actual altitude: 51.8416569999999 # Commanded vehicle depth:1286.645948 # Seafloor depth:-1338.052483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.37; 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 = 207.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 75.446635 meters # Minimum depth: 1341.105287 meters looking forward 100.000000 meters along route # Maximum depth: 1351.313320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1291.105287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729640; longitude = -122.018929; captureRadius = 10; duration = 75; initialDepth = 1297.011070; finalDepth = 1291.105287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4065349999998 # Actual altitude: 51.4065349999998 # Commanded vehicle depth:1291.105287 # Seafloor depth:-1342.423196 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.63; 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 = 205.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 75.446635 meters # Minimum depth: 1347.011070 meters looking forward 100.000000 meters along route # Maximum depth: 1356.110690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1297.011070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729211; longitude = -122.018238; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1303.207249; finalDepth = 1297.011070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.416095 # Actual altitude: 54.416095 # Commanded vehicle depth:1297.01107 # Seafloor depth:-1351.427165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.66; 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 = 217.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.446635 meters # Minimum depth: 1353.207249 meters looking forward 100.000000 meters along route # Maximum depth: 1356.111199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1303.207249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728746; longitude = -122.018000; captureRadius = 10; duration = 75; initialDepth = 1303.724222; finalDepth = 1303.207249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.416095 # Actual altitude: 54.416095 # Commanded vehicle depth:1303.207249 # Seafloor depth:-1356.111199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.66; 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 = 217.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.446635 meters # Minimum depth: 1353.724222 meters looking forward 100.000000 meters along route # Maximum depth: 1357.538170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1303.724222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728115; longitude = -122.017679; captureRadius = 10; duration = 75; initialDepth = 1306.813859; finalDepth = 1303.724222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9039499999999 # Actual altitude: 52.9039499999999 # Commanded vehicle depth:1303.724222 # Seafloor depth:-1356.077534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.62; 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 = 211.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.446635 meters # Minimum depth: 1356.813859 meters looking forward 100.000000 meters along route # Maximum depth: 1359.504724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1306.813859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727484; longitude = -122.017357; captureRadius = 10; duration = 75; initialDepth = 1308.695814; finalDepth = 1306.813859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.353312 # Actual altitude: 52.353312 # Commanded vehicle depth:1306.813859 # Seafloor depth:-1356.988998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.41; 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 = 209.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.446635 meters # Minimum depth: 1358.695814 meters looking forward 100.000000 meters along route # Maximum depth: 1362.583089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1308.695814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726853; longitude = -122.017035; captureRadius = 10; duration = 75; initialDepth = 1312.369326; finalDepth = 1308.695814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.699357 # Actual altitude: 50.699357 # Commanded vehicle depth:1308.695814 # Seafloor depth:-1359.395171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.14; MB_Bottom_Detect_Filter_Max_Range = 202.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.446635 meters # Minimum depth: 1362.369326 meters looking forward 100.000000 meters along route # Maximum depth: 1365.313235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1312.369326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726222; longitude = -122.016713; captureRadius = 10; duration = 75; initialDepth = 1314.552920; finalDepth = 1312.369326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.699357 # Actual altitude: 50.699357 # Commanded vehicle depth:1312.369326 # Seafloor depth:-1362.784610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.14; MB_Bottom_Detect_Filter_Max_Range = 202.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.446635 meters # Minimum depth: 1364.552920 meters looking forward 100.000000 meters along route # Maximum depth: 1368.401546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1314.552920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725591; longitude = -122.016391; captureRadius = 10; duration = 75; initialDepth = 1317.658642; finalDepth = 1314.552920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9666109999998 # Actual altitude: 50.9666109999998 # Commanded vehicle depth:1314.55292 # Seafloor depth:-1365.519531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.19; MB_Bottom_Detect_Filter_Max_Range = 203.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.446635 meters # Minimum depth: 1367.658642 meters looking forward 100.000000 meters along route # Maximum depth: 1374.508591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1317.658642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724960; longitude = -122.016070; captureRadius = 10; duration = 75; initialDepth = 1321.706904; finalDepth = 1317.658642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9666109999998 # Actual altitude: 50.9666109999998 # Commanded vehicle depth:1317.658642 # Seafloor depth:-1368.423284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.19; MB_Bottom_Detect_Filter_Max_Range = 203.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.446635 meters # Minimum depth: 1371.706904 meters looking forward 100.000000 meters along route # Maximum depth: 1387.639160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1321.706904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724330; longitude = -122.015748; captureRadius = 10; duration = 75; initialDepth = 1324.508591; finalDepth = 1321.706904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.164178 # Actual altitude: 54.164178 # Commanded vehicle depth:1321.706904 # Seafloor depth:-1375.871082 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.66; 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 = 216.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 75.446635 meters # Minimum depth: 1374.508591 meters looking forward 100.000000 meters along route # Maximum depth: 1388.521039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1324.508591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723684; longitude = -122.015418; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1329.026666; finalDepth = 1324.508591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.1958359999999 # Actual altitude: 63.1958359999999 # Commanded vehicle depth:1324.508591 # Seafloor depth:-1387.704427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.64; MB_Bottom_Detect_Filter_Max_Range = 252.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 75.446635 meters # Minimum depth: 1387.455204 meters looking forward 100.000000 meters along route # Maximum depth: 1409.928325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1329.026666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723598; longitude = -122.015288; captureRadius = 10; duration = 75; initialDepth = 1352.262530; finalDepth = 1329.026666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.1958359999999 # Actual altitude: 63.1958359999999 # Commanded vehicle depth:1329.0266663 # Seafloor depth:-1388.743906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.64; MB_Bottom_Detect_Filter_Max_Range = 252.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 75.446635 meters # Minimum depth: 1406.138916 meters looking forward 100.000000 meters along route # Maximum depth: 1411.071045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1352.262530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723157; longitude = -122.014615; captureRadius = 10; duration = 75; initialDepth = 1354.424901; finalDepth = 1352.262530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.7172396999997 # Actual altitude: 59.7172396999997 # Commanded vehicle depth:1352.26253 # Seafloor depth:-1409.940828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.94; MB_Bottom_Detect_Filter_Max_Range = 238.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 75.446635 meters # Minimum depth: 1404.424901 meters looking forward 100.000000 meters along route # Maximum depth: 1411.071045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1354.424901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722707; longitude = -122.013931; captureRadius = 10; duration = 75; initialDepth = 1350.937134; finalDepth = 1354.424901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.678298 # Actual altitude: 57.678298 # Commanded vehicle depth:1354.424901 # Seafloor depth:-1411.011687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.54; MB_Bottom_Detect_Filter_Max_Range = 230.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 75.446635 meters # Minimum depth: 1400.937134 meters looking forward 100.000000 meters along route # Maximum depth: 1406.710938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1350.937134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722257; longitude = -122.013244; captureRadius = 10; duration = 75; initialDepth = 1350.937134; finalDepth = 1350.937134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.5867859999998 # Actual altitude: 56.5867859999998 # Commanded vehicle depth:1350.937134 # Seafloor depth:-1404.063969 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.35; 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 = 226.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 75.446635 meters # Minimum depth: 1400.937134 meters looking forward 100.000000 meters along route # Maximum depth: 1404.013672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1350.937134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721821; longitude = -122.012580; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1349.666373; finalDepth = 1350.937134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.126835 # Actual altitude: 53.126835 # Commanded vehicle depth:1350.937134 # Seafloor depth:-1404.013672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.51; 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 = 212.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 75.446635 meters # Minimum depth: 1399.666373 meters looking forward 100.000000 meters along route # Maximum depth: 1403.171061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1349.666373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722065; longitude = -122.012319; captureRadius = 10; duration = 75; initialDepth = 1349.752134; finalDepth = 1349.666373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.076538 # Actual altitude: 53.076538 # Commanded vehicle depth:1349.666373 # Seafloor depth:-1401.345173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.62; MB_Bottom_Detect_Filter_Max_Range = 212.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 75.446635 meters # Minimum depth: 1399.752134 meters looking forward 100.000000 meters along route # Maximum depth: 1403.479491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1349.752134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722588; longitude = -122.011758; captureRadius = 10; duration = 75; initialDepth = 1330.376374; finalDepth = 1349.752134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7302499999998 # Actual altitude: 52.7302499999998 # Commanded vehicle depth:1349.752134 # Seafloor depth:-1402.482384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.92; 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 = 210.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 75.446635 meters # Minimum depth: 1380.376374 meters looking forward 100.000000 meters along route # Maximum depth: 1402.800073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1330.376374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723113; longitude = -122.011196; captureRadius = 10; duration = 75; initialDepth = 1314.620721; finalDepth = 1330.376374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3244650000001 # Actual altitude: 69.3244650000001 # Commanded vehicle depth:1330.376374 # Seafloor depth:-1399.700839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.86; MB_Bottom_Detect_Filter_Max_Range = 277.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 75.446635 meters # Minimum depth: 1364.620721 meters looking forward 100.000000 meters along route # Maximum depth: 1384.956877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1314.620721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723633; longitude = -122.010638; captureRadius = 10; duration = 75; initialDepth = 1301.111997; finalDepth = 1314.620721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3244650000001 # Actual altitude: 69.3244650000001 # Commanded vehicle depth:1314.620721 # Seafloor depth:-1379.733652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.86; MB_Bottom_Detect_Filter_Max_Range = 277.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 75.446635 meters # Minimum depth: 1351.111997 meters looking forward 100.000000 meters along route # Maximum depth: 1369.885335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1301.111997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724156; longitude = -122.010078; captureRadius = 10; duration = 75; initialDepth = 1293.102202; finalDepth = 1301.111997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.1129309999999 # Actual altitude: 65.1129309999999 # Commanded vehicle depth:1301.111997 # Seafloor depth:-1364.241190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.02; MB_Bottom_Detect_Filter_Max_Range = 260.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 75.446635 meters # Minimum depth: 1343.102202 meters looking forward 100.000000 meters along route # Maximum depth: 1353.007796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1293.102202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724679; longitude = -122.009518; captureRadius = 10; duration = 75; initialDepth = 1278.663093; finalDepth = 1293.102202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.129193 # Actual altitude: 63.129193 # Commanded vehicle depth:1293.102202 # Seafloor depth:-1350.673869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.63; MB_Bottom_Detect_Filter_Max_Range = 252.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 75.446635 meters # Minimum depth: 1328.663093 meters looking forward 100.000000 meters along route # Maximum depth: 1343.986735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1278.663093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725201; longitude = -122.008957; captureRadius = 10; duration = 75; initialDepth = 1273.670550; finalDepth = 1278.663093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.1830460000001 # Actual altitude: 64.1830460000001 # Commanded vehicle depth:1278.663093 # Seafloor depth:-1342.846139 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.84; MB_Bottom_Detect_Filter_Max_Range = 256.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 75.446635 meters # Minimum depth: 1323.670550 meters looking forward 100.000000 meters along route # Maximum depth: 1336.948755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1273.670550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725742; longitude = -122.008379; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1250.975583; finalDepth = 1273.670550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.1830460000001 # Actual altitude: 64.1830460000001 # Commanded vehicle depth:1273.67055 # Seafloor depth:-1328.219889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.84; MB_Bottom_Detect_Filter_Max_Range = 256.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 75.446635 meters # Minimum depth: 1300.975583 meters looking forward 100.000000 meters along route # Maximum depth: 1326.296266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1250.975583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726063; longitude = -122.008789; captureRadius = 10; duration = 75; initialDepth = 1216.845161; finalDepth = 1250.975583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.0982570000001 # Actual altitude: 72.0982570000001 # Commanded vehicle depth:1250.975583 # Seafloor depth:-1323.073840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 288.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.42; MB_Bottom_Detect_Filter_Max_Range = 288.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 75.446635 meters # Minimum depth: 1266.845161 meters looking forward 100.000000 meters along route # Maximum depth: 1308.249280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.845161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726545; longitude = -122.009406; captureRadius = 10; duration = 75; initialDepth = 1187.480139; finalDepth = 1216.845161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5510180000001 # Actual altitude: 83.5510180000001 # Commanded vehicle depth:1216.845161 # Seafloor depth:-1300.396179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 334.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.71; MB_Bottom_Detect_Filter_Max_Range = 334.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 75.446635 meters # Minimum depth: 1237.480139 meters looking forward 100.000000 meters along route # Maximum depth: 1274.782941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1187.480139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727033; longitude = -122.010029; captureRadius = 10; duration = 75; initialDepth = 1152.351562; finalDepth = 1187.480139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5510180000001 # Actual altitude: 83.5510180000001 # Commanded vehicle depth:1187.480139 # Seafloor depth:-1266.491107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 334.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.71; MB_Bottom_Detect_Filter_Max_Range = 334.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 75.446635 meters # Minimum depth: 1202.351562 meters looking forward 100.000000 meters along route # Maximum depth: 1243.823551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.351562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727510; longitude = -122.010638; captureRadius = 10; duration = 75; initialDepth = 1120.372090; finalDepth = 1152.351562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.542365 # Actual altitude: 83.542365 # Commanded vehicle depth:1152.351562 # Seafloor depth:-1235.893927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 334.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.71; MB_Bottom_Detect_Filter_Max_Range = 334.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 75.446635 meters # Minimum depth: 1170.372090 meters looking forward 100.000000 meters along route # Maximum depth: 1212.149280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.372090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727992; longitude = -122.011254; captureRadius = 10; duration = 75; initialDepth = 1120.028758; finalDepth = 1120.372090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.542365 # Actual altitude: 83.542365 # Commanded vehicle depth:1120.37209 # Seafloor depth:-1201.319641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 334.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.71; MB_Bottom_Detect_Filter_Max_Range = 334.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 75.446635 meters # Minimum depth: 1170.028758 meters looking forward 100.000000 meters along route # Maximum depth: 1188.196118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.028758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728475; longitude = -122.011872; captureRadius = 10; duration = 75; initialDepth = 1122.403527; finalDepth = 1120.028758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.947551 # Actual altitude: 80.947551 # Commanded vehicle depth:1120.028758 # Seafloor depth:-1170.360150 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 323.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.19; MB_Bottom_Detect_Filter_Max_Range = 323.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 75.446635 meters # Minimum depth: 1172.403527 meters looking forward 100.000000 meters along route # Maximum depth: 1198.359537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.403527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728986; longitude = -122.012524; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1132.899908; finalDepth = 1122.403527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6648320000002 # Actual altitude: 67.6648320000002 # Commanded vehicle depth:1122.403527 # Seafloor depth:-1190.068359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.53; MB_Bottom_Detect_Filter_Max_Range = 270.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 75.446635 meters # Minimum depth: 1182.899908 meters looking forward 100.000000 meters along route # Maximum depth: 1196.943541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1132.899908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729467; longitude = -122.012339; captureRadius = 10; duration = 75; initialDepth = 1132.899908; finalDepth = 1132.899908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6648320000002 # Actual altitude: 67.6648320000002 # Commanded vehicle depth:1132.899908 # Seafloor depth:-1190.599368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.53; MB_Bottom_Detect_Filter_Max_Range = 270.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 75.446635 meters # Minimum depth: 1182.899908 meters looking forward 100.000000 meters along route # Maximum depth: 1201.171915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1132.899908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730142; longitude = -122.012080; captureRadius = 10; duration = 75; initialDepth = 1146.745972; finalDepth = 1132.899908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.6994599999998 # Actual altitude: 57.6994599999998 # Commanded vehicle depth:1132.899908 # Seafloor depth:-1183.656136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.54; MB_Bottom_Detect_Filter_Max_Range = 230.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 75.446635 meters # Minimum depth: 1196.745972 meters looking forward 100.000000 meters along route # Maximum depth: 1204.570614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1146.745972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730818; longitude = -122.011820; captureRadius = 10; duration = 75; initialDepth = 1131.148188; finalDepth = 1146.745972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.80989 # Actual altitude: 55.80989 # Commanded vehicle depth:1146.745972 # Seafloor depth:-1202.555862 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.24; 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 = 223.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 75.446635 meters # Minimum depth: 1181.148188 meters looking forward 100.000000 meters along route # Maximum depth: 1204.570614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.148188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731464; longitude = -122.011572; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1105.777212; finalDepth = 1131.148188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.1204480000001 # Actual altitude: 71.1204480000001 # Commanded vehicle depth:1131.148188 # Seafloor depth:-1202.268636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 284.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.22; MB_Bottom_Detect_Filter_Max_Range = 284.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.446635 meters # Minimum depth: 1155.777212 meters looking forward 100.000000 meters along route # Maximum depth: 1188.477492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.777212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731594; longitude = -122.011086; captureRadius = 10; duration = 75; initialDepth = 1082.880966; finalDepth = 1105.777212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.9708070000001 # Actual altitude: 73.9708070000001 # Commanded vehicle depth:1105.777212 # Seafloor depth:-1179.748019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 295.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.79; MB_Bottom_Detect_Filter_Max_Range = 295.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.446635 meters # Minimum depth: 1132.880966 meters looking forward 100.000000 meters along route # Maximum depth: 1163.724406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.880966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731819; longitude = -122.010246; captureRadius = 10; duration = 75; initialDepth = 1050.400739; finalDepth = 1082.880966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.9708070000001 # Actual altitude: 73.9708070000001 # Commanded vehicle depth:1082.880966 # Seafloor depth:-1153.919378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 295.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.79; MB_Bottom_Detect_Filter_Max_Range = 295.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.446635 meters # Minimum depth: 1100.400739 meters looking forward 100.000000 meters along route # Maximum depth: 1135.707006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.400739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732044; longitude = -122.009406; captureRadius = 10; duration = 75; initialDepth = 1005.304772; finalDepth = 1050.400739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6488810000001 # Actual altitude: 81.6488810000001 # Commanded vehicle depth:1050.400739 # Seafloor depth:-1132.049620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 326.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.33; MB_Bottom_Detect_Filter_Max_Range = 326.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.446635 meters # Minimum depth: 1055.304772 meters looking forward 100.000000 meters along route # Maximum depth: 1107.942161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.304772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732269; longitude = -122.008565; captureRadius = 10; duration = 75; initialDepth = 965.438305; finalDepth = 1005.304772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.5765920000001 # Actual altitude: 93.5765920000001 # Commanded vehicle depth:1005.304772 # Seafloor depth:-1098.881364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.72; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.446635 meters # Minimum depth: 1015.438305 meters looking forward 100.000000 meters along route # Maximum depth: 1062.776313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.438305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732493; longitude = -122.007725; captureRadius = 10; duration = 75; initialDepth = 923.329796; finalDepth = 965.438305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.5765920000001 # Actual altitude: 93.5765920000001 # Commanded vehicle depth:965.438305 # Seafloor depth:-1053.856765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.72; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.446635 meters # Minimum depth: 973.329796 meters looking forward 100.000000 meters along route # Maximum depth: 1023.445299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.329796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732718; longitude = -122.006885; captureRadius = 10; duration = 75; initialDepth = 884.027999; finalDepth = 923.329796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.762638 # Actual altitude: 90.762638 # Commanded vehicle depth:923.329796 # Seafloor depth:-1014.092434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.15; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.446635 meters # Minimum depth: 934.027999 meters looking forward 100.000000 meters along route # Maximum depth: 986.708806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 884.027999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732943; longitude = -122.006045; captureRadius = 10; duration = 75; initialDepth = 849.604696; finalDepth = 884.027999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.762638 # Actual altitude: 90.762638 # Commanded vehicle depth:884.027999 # Seafloor depth:-971.786503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.15; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.446635 meters # Minimum depth: 899.604696 meters looking forward 100.000000 meters along route # Maximum depth: 942.472923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.604696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733162; longitude = -122.005227; captureRadius = 10; duration = 75; initialDepth = 808.373462; finalDepth = 849.604696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.758504 # Actual altitude: 87.758504 # Commanded vehicle depth:849.604696 # Seafloor depth:-932.462142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.55; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.446635 meters # Minimum depth: 858.373462 meters looking forward 100.000000 meters along route # Maximum depth: 905.669353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.373462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733377; longitude = -122.004420; captureRadius = 10; duration = 75; initialDepth = 801.751600; finalDepth = 808.373462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.05042 # Actual altitude: 89.05042 # Commanded vehicle depth:808.373462 # Seafloor depth:-897.423882 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.81; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 75.446635 meters # Minimum depth: 851.751600 meters looking forward 100.000000 meters along route # Maximum depth: 897.423882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.751600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733597; longitude = -122.003598; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 781.511531; finalDepth = 801.751600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.05042 # Actual altitude: 89.05042 # Commanded vehicle depth:801.7516 # Seafloor depth:-857.264974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.81; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 831.511531 meters looking forward 100.000000 meters along route # Maximum depth: 857.264974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 781.511531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733616; longitude = -122.003356; captureRadius = 10; duration = 75; initialDepth = 756.066978; finalDepth = 781.511531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.744325 # Actual altitude: 68.744325 # Commanded vehicle depth:781.511531 # Seafloor depth:-850.255856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.75; MB_Bottom_Detect_Filter_Max_Range = 274.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 806.066978 meters looking forward 100.000000 meters along route # Maximum depth: 834.888035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.066978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733682; longitude = -122.002515; captureRadius = 10; duration = 75; initialDepth = 732.523144; finalDepth = 756.066978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.117064 # Actual altitude: 74.117064 # Commanded vehicle depth:756.066978 # Seafloor depth:-830.184042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 296.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.82; MB_Bottom_Detect_Filter_Max_Range = 296.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 782.523144 meters looking forward 100.000000 meters along route # Maximum depth: 812.037467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.523144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733748; longitude = -122.001675; captureRadius = 10; duration = 75; initialDepth = 709.240542; finalDepth = 732.523144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.117064 # Actual altitude: 74.117064 # Commanded vehicle depth:732.523144 # Seafloor depth:-805.476723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 296.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.82; MB_Bottom_Detect_Filter_Max_Range = 296.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 759.240542 meters looking forward 100.000000 meters along route # Maximum depth: 788.353537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.240542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733815; longitude = -122.000835; captureRadius = 10; duration = 75; initialDepth = 688.321509; finalDepth = 709.240542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.953579 # Actual altitude: 72.953579 # Commanded vehicle depth:709.240542 # Seafloor depth:-780.590938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.59; MB_Bottom_Detect_Filter_Max_Range = 291.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 738.321509 meters looking forward 100.000000 meters along route # Maximum depth: 763.500285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.321509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733881; longitude = -121.999995; captureRadius = 10; duration = 75; initialDepth = 665.221087; finalDepth = 688.321509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.350396 # Actual altitude: 71.350396 # Commanded vehicle depth:688.321509 # Seafloor depth:-758.107336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 285.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.27; MB_Bottom_Detect_Filter_Max_Range = 285.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 715.221087 meters looking forward 100.000000 meters along route # Maximum depth: 743.288289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.221087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733947; longitude = -121.999154; captureRadius = 10; duration = 75; initialDepth = 645.919959; finalDepth = 665.221087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.675432 # Actual altitude: 71.675432 # Commanded vehicle depth:665.221087 # Seafloor depth:-736.896519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.34; MB_Bottom_Detect_Filter_Max_Range = 286.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 695.919959 meters looking forward 100.000000 meters along route # Maximum depth: 720.127320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.919959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734013; longitude = -121.998314; captureRadius = 10; duration = 75; initialDepth = 628.974636; finalDepth = 645.919959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.675432 # Actual altitude: 71.675432 # Commanded vehicle depth:645.919959 # Seafloor depth:-713.872154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.34; MB_Bottom_Detect_Filter_Max_Range = 286.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 678.974636 meters looking forward 100.000000 meters along route # Maximum depth: 699.247770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.974636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734079; longitude = -121.997474; captureRadius = 10; duration = 75; initialDepth = 613.474929; finalDepth = 628.974636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9521950000001 # Actual altitude: 67.9521950000001 # Commanded vehicle depth:628.974636 # Seafloor depth:-694.701893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.59; MB_Bottom_Detect_Filter_Max_Range = 271.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 663.474929 meters looking forward 100.000000 meters along route # Maximum depth: 681.700324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.474929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734145; longitude = -121.996633; captureRadius = 10; duration = 75; initialDepth = 602.076789; finalDepth = 613.474929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.727257 # Actual altitude: 65.727257 # Commanded vehicle depth:613.474929 # Seafloor depth:-677.782747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.15; MB_Bottom_Detect_Filter_Max_Range = 262.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 652.076789 meters looking forward 100.000000 meters along route # Maximum depth: 665.952909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.076789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734211; longitude = -121.995793; captureRadius = 10; duration = 75; initialDepth = 589.805326; finalDepth = 602.076789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.307818 # Actual altitude: 64.307818 # Commanded vehicle depth:602.076789 # Seafloor depth:-662.683350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.86; MB_Bottom_Detect_Filter_Max_Range = 257.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 639.805326 meters looking forward 100.000000 meters along route # Maximum depth: 653.713706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.805326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734277; longitude = -121.994953; captureRadius = 10; duration = 75; initialDepth = 576.819337; finalDepth = 589.805326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.2394989999999 # Actual altitude: 61.2394989999999 # Commanded vehicle depth:589.805326 # Seafloor depth:-651.044825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.25; MB_Bottom_Detect_Filter_Max_Range = 244.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 626.819337 meters looking forward 100.000000 meters along route # Maximum depth: 641.260888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.819337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734343; longitude = -121.994113; captureRadius = 10; duration = 75; initialDepth = 561.664082; finalDepth = 576.819337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.317693 # Actual altitude: 62.317693 # Commanded vehicle depth:576.819337 # Seafloor depth:-639.137030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.46; MB_Bottom_Detect_Filter_Max_Range = 249.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 611.664082 meters looking forward 100.000000 meters along route # Maximum depth: 627.880367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.664082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734409; longitude = -121.993272; captureRadius = 10; duration = 75; initialDepth = 550.559234; finalDepth = 561.664082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.381076 # Actual altitude: 64.381076 # Commanded vehicle depth:561.664082 # Seafloor depth:-626.045158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.88; MB_Bottom_Detect_Filter_Max_Range = 257.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 600.559234 meters looking forward 100.000000 meters along route # Maximum depth: 614.956989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.559234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734476; longitude = -121.992432; captureRadius = 10; duration = 75; initialDepth = 536.641395; finalDepth = 550.559234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.381076 # Actual altitude: 64.381076 # Commanded vehicle depth:550.559234 # Seafloor depth:-610.957992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.88; MB_Bottom_Detect_Filter_Max_Range = 257.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 586.641395 meters looking forward 100.000000 meters along route # Maximum depth: 602.639027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.641395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734542; longitude = -121.991592; captureRadius = 10; duration = 75; initialDepth = 524.107438; finalDepth = 536.641395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.993836 # Actual altitude: 62.993836 # Commanded vehicle depth:536.641395 # Seafloor depth:-599.635231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.60; MB_Bottom_Detect_Filter_Max_Range = 251.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 574.107438 meters looking forward 100.000000 meters along route # Maximum depth: 588.981622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.107438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734608; longitude = -121.990751; captureRadius = 10; duration = 75; initialDepth = 509.621135; finalDepth = 524.107438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.993836 # Actual altitude: 62.993836 # Commanded vehicle depth:524.107438 # Seafloor depth:-585.962072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.60; MB_Bottom_Detect_Filter_Max_Range = 251.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 559.621135 meters looking forward 100.000000 meters along route # Maximum depth: 577.877331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.621135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734674; longitude = -121.989911; captureRadius = 10; duration = 75; initialDepth = 496.526116; finalDepth = 509.621135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.838991 # Actual altitude: 63.838991 # Commanded vehicle depth:509.621135 # Seafloor depth:-573.460126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.77; MB_Bottom_Detect_Filter_Max_Range = 255.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 546.526116 meters looking forward 100.000000 meters along route # Maximum depth: 564.910240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.526116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734740; longitude = -121.989071; captureRadius = 10; duration = 75; initialDepth = 478.124545; finalDepth = 496.526116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.838991 # Actual altitude: 63.838991 # Commanded vehicle depth:496.526116 # Seafloor depth:-559.307268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.77; MB_Bottom_Detect_Filter_Max_Range = 255.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 528.124545 meters looking forward 100.000000 meters along route # Maximum depth: 549.116042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.124545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734806; longitude = -121.988231; captureRadius = 10; duration = 75; initialDepth = 461.402731; finalDepth = 478.124545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6400159999999 # Actual altitude: 67.6400159999999 # Commanded vehicle depth:478.124545 # Seafloor depth:-545.764561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.53; MB_Bottom_Detect_Filter_Max_Range = 270.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.446635 meters # Minimum depth: 511.402731 meters looking forward 100.000000 meters along route # Maximum depth: 533.333735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.402731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734874; longitude = -121.987367; captureRadius = 10; duration = 75; initialDepth = 452.464406; finalDepth = 461.402731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6400159999999 # Actual altitude: 67.6400159999999 # Commanded vehicle depth:461.402731 # Seafloor depth:-527.558335 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.53; MB_Bottom_Detect_Filter_Max_Range = 270.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 75.446635 meters # Minimum depth: 502.464406 meters looking forward 100.000000 meters along route # Maximum depth: 524.369004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.464406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734940; longitude = -121.986527; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 434.128127; finalDepth = 452.464406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.155604 # Actual altitude: 66.155604 # Commanded vehicle depth:452.464406 # Seafloor depth:-510.415810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.62; 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 = 264.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 484.128127 meters looking forward 100.000000 meters along route # Maximum depth: 506.930870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.128127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734887; longitude = -121.986158; captureRadius = 10; duration = 75; initialDepth = 415.807585; finalDepth = 434.128127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.526276 # Actual altitude: 67.526276 # Commanded vehicle depth:434.128127 # Seafloor depth:-501.654403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.51; MB_Bottom_Detect_Filter_Max_Range = 270.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 465.807585 meters looking forward 100.000000 meters along route # Maximum depth: 488.409907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.807585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734765; longitude = -121.985318; captureRadius = 10; duration = 75; initialDepth = 401.308818; finalDepth = 415.807585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.526276 # Actual altitude: 67.526276 # Commanded vehicle depth:415.807585 # Seafloor depth:-483.075073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.51; MB_Bottom_Detect_Filter_Max_Range = 270.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 451.308818 meters looking forward 100.000000 meters along route # Maximum depth: 470.248504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.308818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734644; longitude = -121.984477; captureRadius = 10; duration = 75; initialDepth = 383.955355; finalDepth = 401.308818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.267488 # Actual altitude: 67.267488 # Commanded vehicle depth:401.308818 # Seafloor depth:-465.134717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.45; MB_Bottom_Detect_Filter_Max_Range = 269.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 433.955355 meters looking forward 100.000000 meters along route # Maximum depth: 454.925155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.955355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734522; longitude = -121.983637; captureRadius = 10; duration = 75; initialDepth = 367.115245; finalDepth = 383.955355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.912484 # Actual altitude: 64.912484 # Commanded vehicle depth:383.955355 # Seafloor depth:-448.867839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.98; MB_Bottom_Detect_Filter_Max_Range = 259.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 417.115245 meters looking forward 100.000000 meters along route # Maximum depth: 437.714422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.115245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734401; longitude = -121.982797; captureRadius = 10; duration = 75; initialDepth = 348.303284; finalDepth = 367.115245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.49953 # Actual altitude: 65.49953 # Commanded vehicle depth:367.115245 # Seafloor depth:-432.614775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.10; MB_Bottom_Detect_Filter_Max_Range = 262.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 398.303284 meters looking forward 100.000000 meters along route # Maximum depth: 421.255202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.303284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734280; longitude = -121.981957; captureRadius = 10; duration = 75; initialDepth = 324.358737; finalDepth = 348.303284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.435605 # Actual altitude: 67.435605 # Commanded vehicle depth:348.303284 # Seafloor depth:-415.738889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.49; MB_Bottom_Detect_Filter_Max_Range = 269.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 374.358737 meters looking forward 100.000000 meters along route # Maximum depth: 401.023802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.358737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734158; longitude = -121.981116; captureRadius = 10; duration = 75; initialDepth = 299.769081; finalDepth = 324.358737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.401202 # Actual altitude: 71.401202 # Commanded vehicle depth:324.358737 # Seafloor depth:-395.759939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 285.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.28; MB_Bottom_Detect_Filter_Max_Range = 285.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 349.769081 meters looking forward 100.000000 meters along route # Maximum depth: 378.086659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.769081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734037; longitude = -121.980276; captureRadius = 10; duration = 75; initialDepth = 273.240259; finalDepth = 299.769081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.3455949999999 # Actual altitude: 73.3455949999999 # Commanded vehicle depth:299.769081 # Seafloor depth:-373.114676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 293.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.67; MB_Bottom_Detect_Filter_Max_Range = 293.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 323.240259 meters looking forward 100.000000 meters along route # Maximum depth: 354.676359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 273.240259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733915; longitude = -121.979436; captureRadius = 10; duration = 75; initialDepth = 246.335950; finalDepth = 273.240259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.828119 # Actual altitude: 74.828119 # Commanded vehicle depth:273.240259 # Seafloor depth:-348.068378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 299.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.97; MB_Bottom_Detect_Filter_Max_Range = 299.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 296.335950 meters looking forward 100.000000 meters along route # Maximum depth: 329.092973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.335950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733792; longitude = -121.978585; captureRadius = 10; duration = 75; initialDepth = 217.983120; finalDepth = 246.335950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.616608 # Actual altitude: 76.616608 # Commanded vehicle depth:246.33595 # Seafloor depth:-322.952558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 306.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 267.983120 meters looking forward 100.000000 meters along route # Maximum depth: 302.942868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.983120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733673; longitude = -121.977755; captureRadius = 10; duration = 75; initialDepth = 185.649137; finalDepth = 217.983120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.616608 # Actual altitude: 76.616608 # Commanded vehicle depth:217.98312 # Seafloor depth:-294.326658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 306.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 235.649137 meters looking forward 100.000000 meters along route # Maximum depth: 273.639747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.649137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733551; longitude = -121.976915; captureRadius = 10; duration = 75; initialDepth = 152.597990; finalDepth = 185.649137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.150231 # Actual altitude: 80.150231 # Commanded vehicle depth:185.649137 # Seafloor depth:-265.799368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 320.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.03; MB_Bottom_Detect_Filter_Max_Range = 320.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 202.597990 meters looking forward 100.000000 meters along route # Maximum depth: 243.126486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.597990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733430; longitude = -121.976075; captureRadius = 10; duration = 75; initialDepth = 121.858334; finalDepth = 152.597990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.324143 # Actual altitude: 82.324143 # Commanded vehicle depth:152.59799 # Seafloor depth:-234.922133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 329.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.46; MB_Bottom_Detect_Filter_Max_Range = 329.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 171.858334 meters looking forward 100.000000 meters along route # Maximum depth: 209.653350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.858334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733308; longitude = -121.975234; captureRadius = 10; duration = 75; initialDepth = 99.764141; finalDepth = 121.858334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.324143 # Actual altitude: 82.324143 # Commanded vehicle depth:121.858334 # Seafloor depth:-202.374419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 329.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.46; MB_Bottom_Detect_Filter_Max_Range = 329.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 149.764141 meters looking forward 100.000000 meters along route # Maximum depth: 175.752116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.764141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733187; longitude = -121.974394; captureRadius = 10; duration = 75; initialDepth = 89.293239; finalDepth = 99.764141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.516085 # Actual altitude: 80.516085 # Commanded vehicle depth:99.764141 # Seafloor depth:-170.436064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 322.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 139.293239 meters looking forward 100.000000 meters along route # Maximum depth: 154.201743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.293239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733065; longitude = -121.973554; captureRadius = 10; duration = 75; initialDepth = 79.810937; finalDepth = 89.293239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.671923 # Actual altitude: 70.671923 # Commanded vehicle depth:89.293239 # Seafloor depth:-149.279350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 282.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.13; MB_Bottom_Detect_Filter_Max_Range = 282.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 129.810937 meters looking forward 100.000000 meters along route # Maximum depth: 140.930281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.810937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732944; longitude = -121.972713; captureRadius = 10; duration = 75; initialDepth = 74.937742; finalDepth = 79.810937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.986111 # Actual altitude: 59.986111 # Commanded vehicle depth:79.810937 # Seafloor depth:-138.250237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.94; 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 = 239.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 124.937742 meters looking forward 100.000000 meters along route # Maximum depth: 131.466463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.937742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732823; longitude = -121.971873; captureRadius = 10; duration = 75; initialDepth = 72.639309; finalDepth = 74.937742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.4393 # Actual altitude: 58.4393 # Commanded vehicle depth:74.937742 # Seafloor depth:-129.850829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.76; 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 = 233.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 122.639309 meters looking forward 100.000000 meters along route # Maximum depth: 126.065760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.639309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732701; longitude = -121.971033; captureRadius = 10; duration = 75; initialDepth = 69.695145; finalDepth = 72.639309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.913087 # Actual altitude: 54.913087 # Commanded vehicle depth:72.639309 # Seafloor depth:-125.196642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.65; 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 = 219.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.446635 meters # Minimum depth: 119.695145 meters looking forward 100.000000 meters along route # Maximum depth: 123.323048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.695145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732576; longitude = -121.970165; captureRadius = 10; duration = 75; initialDepth = 69.603790; finalDepth = 69.695145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.826873 # Actual altitude: 52.826873 # Commanded vehicle depth:69.695145 # Seafloor depth:-122.522018 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 52.826873 # Sonar parameter altitude: 52.826873 # Commanded vehicle depth:69.60379 # Seafloor depth:-119.603790 # 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 = 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; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 75.446635 meters # Minimum depth: 119.603790 meters looking forward 100.000000 meters along route # Maximum depth: 123.323048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1381.138916 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.603790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732456; longitude = -121.969334; captureRadius = 10; duration = 600; initialDepth = 69.603790; finalDepth = 69.603790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 279.566038; 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 = 279.566038; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################