# 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: 2010_Montebello_1v5.rte # Mission File: 2010_Montebello_1v5.cfg # Distance: 8024.602689 (m) # Estimated Time: 6565 (s) 1.824 (hr) # Abort Time: 8535 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 428 (s) # Way Points: 2 # Route Points: 153 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 35 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.3 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 75 (m) # Minimum Vehicle Altitude: 75 (m) # Abort Vehicle Altitude: 60 (m) # Maximum Vehicle Depth: 319.981839 (m) # Abort Vehicle Depth: 357.481839 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 50 (m) # Waypoint Spacing: 50 (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 -121.195175 35.569006 -90.443685 0.000000 3 # 1 -121.242416 35.507843 -359.268636 8024.602689 4 # # A total of 153 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 7200; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 319.981839; abortDepth = 357.481839; minAltitude = 75.000000; abortAltitude = 60.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 428; 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 1 # Segment length 40.579474 meters # Minimum depth: 357.481839 meters looking forward 50.000000 meters along route # Maximum depth: 361.663000 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 282.481839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.507843; longitude = -121.242416; captureRadius = 10; duration = 81; # abortOnTimeout = True; initialDepth = 280.789406; finalDepth = 282.481839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.786797 # Actual altitude: 76.786797 # Commanded vehicle depth: 282.481839 # Seafloor depth: -359.268636 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.15; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 307.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.102633 meters # Minimum depth: 355.789406 meters looking forward 50.000000 meters along route # Maximum depth: 357.080543 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 280.789406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.508152; longitude = -121.242177; captureRadius = 10; duration = 100; initialDepth = 279.479031; finalDepth = 280.789406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.786797 # Actual altitude: 76.786797 # Commanded vehicle depth: 280.789406 # Seafloor depth: -357.080543 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.15; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 307.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.226363 meters # Minimum depth: 354.479031 meters looking forward 50.000000 meters along route # Maximum depth: 357.274789 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 279.479031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.508534; longitude = -121.241883; captureRadius = 10; duration = 106; initialDepth = 278.095846; finalDepth = 279.479031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.795758 # Actual altitude: 77.795758 # Commanded vehicle depth: 279.479031 # Seafloor depth: -357.274789 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.18; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 311.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.867020 meters # Minimum depth: 353.095846 meters looking forward 50.000000 meters along route # Maximum depth: 355.488385 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 278.095846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.508939; longitude = -121.241569; captureRadius = 10; duration = 111; initialDepth = 277.251060; finalDepth = 278.095846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.795758 # Actual altitude: 77.795758 # Commanded vehicle depth: 278.095846 # Seafloor depth: -355.347262 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.18; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 311.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.585501 meters # Minimum depth: 352.251060 meters looking forward 50.000000 meters along route # Maximum depth: 353.855375 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 277.251060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.509365; longitude = -121.241240; captureRadius = 10; duration = 101; initialDepth = 276.760578; finalDepth = 277.251060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.251416 # Actual altitude: 77.251416 # Commanded vehicle depth: 277.25106 # Seafloor depth: -352.854553 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.01; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.18; MB_Bottom_Detect_Filter_Max_Range = 309.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.226158 meters # Minimum depth: 351.760578 meters looking forward 50.000000 meters along route # Maximum depth: 352.511910 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 276.760578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.509751; longitude = -121.240943; captureRadius = 10; duration = 106; initialDepth = 274.461156; finalDepth = 276.760578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.603493 # Actual altitude: 75.603493 # Commanded vehicle depth: 276.760578 # Seafloor depth: -352.019859 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.41; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 302.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.383748 meters # Minimum depth: 349.461156 meters looking forward 50.000000 meters along route # Maximum depth: 352.098045 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 274.461156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.510156; longitude = -121.240629; captureRadius = 10; duration = 110; initialDepth = 272.751650; finalDepth = 274.461156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.367672 # Actual altitude: 77.367672 # Commanded vehicle depth: 274.461156 # Seafloor depth: -351.828828 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.47; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 309.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.068365 meters # Minimum depth: 347.751650 meters looking forward 50.000000 meters along route # Maximum depth: 350.780946 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 272.751650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.510579; longitude = -121.240303; captureRadius = 10; duration = 102; initialDepth = 271.174003; finalDepth = 272.751650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.367672 # Actual altitude: 77.367672 # Commanded vehicle depth: 272.75165 # Seafloor depth: -349.522293 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.47; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 309.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.225955 meters # Minimum depth: 346.174003 meters looking forward 50.000000 meters along route # Maximum depth: 348.581483 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 271.174003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.510968; longitude = -121.240003; captureRadius = 10; duration = 106; initialDepth = 269.482808; finalDepth = 271.174003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.770643 # Actual altitude: 76.770643 # Commanded vehicle depth: 271.174003 # Seafloor depth: -347.252807 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.08; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 307.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.900480 meters # Minimum depth: 344.482808 meters looking forward 50.000000 meters along route # Maximum depth: 348.353803 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 269.482808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.511373; longitude = -121.239689; captureRadius = 10; duration = 109; initialDepth = 268.138723; finalDepth = 269.482808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.945525 # Actual altitude: 77.945525 # Commanded vehicle depth: 269.482808 # Seafloor depth: -347.428333 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.78; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 311.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.551225 meters # Minimum depth: 343.138723 meters looking forward 50.000000 meters along route # Maximum depth: 344.874135 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 268.138723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.511792; longitude = -121.239366; captureRadius = 10; duration = 103; initialDepth = 265.306967; finalDepth = 268.138723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.945525 # Actual altitude: 77.945525 # Commanded vehicle depth: 268.138723 # Seafloor depth: -344.491066 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.78; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 311.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.225751 meters # Minimum depth: 340.306967 meters looking forward 50.000000 meters along route # Maximum depth: 342.918181 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 265.306967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.512185; longitude = -121.239063; captureRadius = 10; duration = 106; initialDepth = 265.259030; finalDepth = 265.306967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.611214 # Actual altitude: 77.611214 # Commanded vehicle depth: 265.306967 # Seafloor depth: -342.918181 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.44; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.28; MB_Bottom_Detect_Filter_Max_Range = 310.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.417216 meters # Minimum depth: 340.259030 meters looking forward 50.000000 meters along route # Maximum depth: 342.069896 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 265.259030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.512590; longitude = -121.238749; captureRadius = 10; duration = 108; initialDepth = 265.899486; finalDepth = 265.259030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.611214 # Actual altitude: 77.611214 # Commanded vehicle depth: 265.25903 # Seafloor depth: -340.259030 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.44; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.28; MB_Bottom_Detect_Filter_Max_Range = 310.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.034081 meters # Minimum depth: 340.899486 meters looking forward 50.000000 meters along route # Maximum depth: 341.927554 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 265.899486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.513005; longitude = -121.238429; captureRadius = 10; duration = 104; initialDepth = 263.418614; finalDepth = 265.899486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.45039 # Actual altitude: 75.45039 # Commanded vehicle depth: 265.899486 # Seafloor depth: -341.349876 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.80; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 301.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.225547 meters # Minimum depth: 338.418614 meters looking forward 50.000000 meters along route # Maximum depth: 342.061845 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 263.418614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.513402; longitude = -121.238123; captureRadius = 10; duration = 106; initialDepth = 263.281528; finalDepth = 263.418614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.642924 # Actual altitude: 78.642924 # Commanded vehicle depth: 263.418614 # Seafloor depth: -342.061538 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.57; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.59; MB_Bottom_Detect_Filter_Max_Range = 314.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.933955 meters # Minimum depth: 338.281528 meters looking forward 50.000000 meters along route # Maximum depth: 338.673356 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 263.281528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.513807; longitude = -121.237809; captureRadius = 10; duration = 107; initialDepth = 262.980595; finalDepth = 263.281528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.642924 # Actual altitude: 78.642924 # Commanded vehicle depth: 263.281528 # Seafloor depth: -338.358818 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.57; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.59; MB_Bottom_Detect_Filter_Max_Range = 314.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.516934 meters # Minimum depth: 337.980595 meters looking forward 50.000000 meters along route # Maximum depth: 339.039889 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 262.980595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.514218; longitude = -121.237492; captureRadius = 10; duration = 105; initialDepth = 259.993912; finalDepth = 262.980595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.428816 # Actual altitude: 75.428816 # Commanded vehicle depth: 262.980595 # Seafloor depth: -338.409411 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.72; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 301.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.225343 meters # Minimum depth: 334.993912 meters looking forward 50.000000 meters along route # Maximum depth: 338.928408 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 259.993912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.514619; longitude = -121.237183; captureRadius = 10; duration = 106; initialDepth = 257.097500; finalDepth = 259.993912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.934496 # Actual altitude: 78.934496 # Commanded vehicle depth: 259.993912 # Seafloor depth: -338.928408 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.74; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 315.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.450698 meters # Minimum depth: 332.097500 meters looking forward 50.000000 meters along route # Maximum depth: 334.722308 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 257.097500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.515024; longitude = -121.236869; captureRadius = 10; duration = 106; initialDepth = 254.530948; finalDepth = 257.097500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.934496 # Actual altitude: 78.934496 # Commanded vehicle depth: 257.0975 # Seafloor depth: -334.722308 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.74; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 315.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.999783 meters # Minimum depth: 329.530948 meters looking forward 50.000000 meters along route # Maximum depth: 332.075604 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 254.530948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.515432; longitude = -121.236555; captureRadius = 10; duration = 105; initialDepth = 251.809017; finalDepth = 254.530948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.624808 # Actual altitude: 77.624808 # Commanded vehicle depth: 254.530948 # Seafloor depth: -332.075604 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.50; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.29; MB_Bottom_Detect_Filter_Max_Range = 310.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.007112 meters # Minimum depth: 326.809017 meters looking forward 50.000000 meters along route # Maximum depth: 329.742198 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 251.809017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.515836; longitude = -121.236243; captureRadius = 10; duration = 100; initialDepth = 251.229245; finalDepth = 251.809017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.933181 # Actual altitude: 77.933181 # Commanded vehicle depth: 251.809017 # Seafloor depth: -329.742198 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.73; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 311.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.529205 meters # Minimum depth: 326.229245 meters looking forward 50.000000 meters along route # Maximum depth: 328.738501 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 251.229245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.516217; longitude = -121.235948; captureRadius = 10; duration = 101; initialDepth = 251.872715; finalDepth = 251.229245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.933181 # Actual altitude: 77.933181 # Commanded vehicle depth: 251.229245 # Seafloor depth: -326.513940 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.73; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 311.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.225010 meters # Minimum depth: 326.872715 meters looking forward 50.000000 meters along route # Maximum depth: 328.472537 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 251.872715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.516602; longitude = -121.235651; captureRadius = 10; duration = 106; initialDepth = 242.538404; finalDepth = 251.872715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.981255 # Actual altitude: 75.981255 # Commanded vehicle depth: 251.872715 # Seafloor depth: -327.853970 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.93; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 303.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.437759 meters # Minimum depth: 317.538404 meters looking forward 50.000000 meters along route # Maximum depth: 328.109670 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 242.538404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.517007; longitude = -121.235338; captureRadius = 10; duration = 110; initialDepth = 242.599092; finalDepth = 242.538404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.344629 # Actual altitude: 85.344629 # Commanded vehicle depth: 242.538404 # Seafloor depth: -327.883033 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 341.38; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 341.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.012058 meters # Minimum depth: 317.599092 meters looking forward 50.000000 meters along route # Maximum depth: 323.357601 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 242.599092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.517430; longitude = -121.235011; captureRadius = 10; duration = 102; initialDepth = 245.842404; finalDepth = 242.599092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.344629 # Actual altitude: 85.344629 # Commanded vehicle depth: 242.599092 # Seafloor depth: -317.599092 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 341.38; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 341.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.224806 meters # Minimum depth: 320.842404 meters looking forward 50.000000 meters along route # Maximum depth: 326.231588 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 245.842404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.517819; longitude = -121.234711; captureRadius = 10; duration = 106; initialDepth = 239.040863; finalDepth = 245.842404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 245.842404 # Seafloor depth: -320.842404 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.954501 meters # Minimum depth: 314.040863 meters looking forward 50.000000 meters along route # Maximum depth: 324.188446 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 239.040863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.518224; longitude = -121.234398; captureRadius = 10; duration = 109; initialDepth = 242.320521; finalDepth = 239.040863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.147583 # Actual altitude: 85.147583 # Commanded vehicle depth: 239.040863 # Seafloor depth: -324.188446 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.59; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 340.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.494908 meters # Minimum depth: 317.320521 meters looking forward 50.000000 meters along route # Maximum depth: 319.606772 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 242.320521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.518643; longitude = -121.234074; captureRadius = 10; duration = 102; initialDepth = 239.893688; finalDepth = 242.320521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.147583 # Actual altitude: 85.147583 # Commanded vehicle depth: 242.320521 # Seafloor depth: -317.707594 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.59; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 340.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.224603 meters # Minimum depth: 314.893688 meters looking forward 50.000000 meters along route # Maximum depth: 317.171713 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 239.893688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.519036; longitude = -121.233771; captureRadius = 10; duration = 106; initialDepth = 239.360389; finalDepth = 239.893688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.278025 # Actual altitude: 77.278025 # Commanded vehicle depth: 239.893688 # Seafloor depth: -317.171713 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.11; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.18; MB_Bottom_Detect_Filter_Max_Range = 309.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.471247 meters # Minimum depth: 314.360389 meters looking forward 50.000000 meters along route # Maximum depth: 316.019402 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 239.360389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.519441; longitude = -121.233458; captureRadius = 10; duration = 108; initialDepth = 235.817410; finalDepth = 239.360389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.278025 # Actual altitude: 77.278025 # Commanded vehicle depth: 239.360389 # Seafloor depth: -315.281084 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.11; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.18; MB_Bottom_Detect_Filter_Max_Range = 309.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.977754 meters # Minimum depth: 310.817410 meters looking forward 50.000000 meters along route # Maximum depth: 314.791483 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 235.817410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.519856; longitude = -121.233137; captureRadius = 10; duration = 103; initialDepth = 233.794688; finalDepth = 235.817410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.974073 # Actual altitude: 78.974073 # Commanded vehicle depth: 235.81741 # Seafloor depth: -314.791483 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.90; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.69; MB_Bottom_Detect_Filter_Max_Range = 315.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.224399 meters # Minimum depth: 308.794688 meters looking forward 50.000000 meters along route # Maximum depth: 313.384132 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 233.794688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.520253; longitude = -121.232831; captureRadius = 10; duration = 106; initialDepth = 233.052352; finalDepth = 233.794688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.589444 # Actual altitude: 79.589444 # Commanded vehicle depth: 233.794688 # Seafloor depth: -313.384132 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.36; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.88; MB_Bottom_Detect_Filter_Max_Range = 318.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.987996 meters # Minimum depth: 308.052352 meters looking forward 50.000000 meters along route # Maximum depth: 312.124765 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 233.052352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.520658; longitude = -121.232518; captureRadius = 10; duration = 107; initialDepth = 231.827997; finalDepth = 233.052352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.589444 # Actual altitude: 79.589444 # Commanded vehicle depth: 233.052352 # Seafloor depth: -312.124765 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.36; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.88; MB_Bottom_Detect_Filter_Max_Range = 318.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.460597 meters # Minimum depth: 306.827997 meters looking forward 50.000000 meters along route # Maximum depth: 311.950317 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 231.827997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.521070; longitude = -121.232200; captureRadius = 10; duration = 104; initialDepth = 230.523917; finalDepth = 231.827997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.072413 # Actual altitude: 79.072413 # Commanded vehicle depth: 231.827997 # Seafloor depth: -307.886274 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.29; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.72; MB_Bottom_Detect_Filter_Max_Range = 316.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.224195 meters # Minimum depth: 305.523917 meters looking forward 50.000000 meters along route # Maximum depth: 311.418120 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 230.523917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.521470; longitude = -121.231891; captureRadius = 10; duration = 106; initialDepth = 227.314378; finalDepth = 230.523917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.82507 # Actual altitude: 80.82507 # Commanded vehicle depth: 230.523917 # Seafloor depth: -311.348987 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.30; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.25; MB_Bottom_Detect_Filter_Max_Range = 323.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.504750 meters # Minimum depth: 302.314378 meters looking forward 50.000000 meters along route # Maximum depth: 305.479145 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 227.314378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.521875; longitude = -121.231578; captureRadius = 10; duration = 107; initialDepth = 226.677472; finalDepth = 227.314378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.82507 # Actual altitude: 80.82507 # Commanded vehicle depth: 227.314378 # Seafloor depth: -305.053930 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.30; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.25; MB_Bottom_Detect_Filter_Max_Range = 323.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.943435 meters # Minimum depth: 301.677472 meters looking forward 50.000000 meters along route # Maximum depth: 304.046587 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 226.677472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.522283; longitude = -121.231263; captureRadius = 10; duration = 105; initialDepth = 225.081664; finalDepth = 226.677472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.739552 # Actual altitude: 77.739552 # Commanded vehicle depth: 226.677472 # Seafloor depth: -303.741568 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.96; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.32; MB_Bottom_Detect_Filter_Max_Range = 310.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.061238 meters # Minimum depth: 300.081664 meters looking forward 50.000000 meters along route # Maximum depth: 304.028784 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 225.081664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.522686; longitude = -121.230951; captureRadius = 10; duration = 100; initialDepth = 215.846632; finalDepth = 225.081664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.0640959999999 # Actual altitude: 77.0640959999999 # Commanded vehicle depth: 225.081664 # Seafloor depth: -301.859873 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.26; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.12; MB_Bottom_Detect_Filter_Max_Range = 308.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.472910 meters # Minimum depth: 290.846632 meters looking forward 50.000000 meters along route # Maximum depth: 299.202275 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 215.846632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.523068; longitude = -121.230656; captureRadius = 10; duration = 100; initialDepth = 214.704977; finalDepth = 215.846632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.678651 # Actual altitude: 82.678651 # Commanded vehicle depth: 215.846632 # Seafloor depth: -298.525283 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.71; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.80; MB_Bottom_Detect_Filter_Max_Range = 330.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.223862 meters # Minimum depth: 289.704977 meters looking forward 50.000000 meters along route # Maximum depth: 299.238363 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 214.704977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.523453; longitude = -121.230359; captureRadius = 10; duration = 106; initialDepth = 214.603321; finalDepth = 214.704977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.533386 # Actual altitude: 84.533386 # Commanded vehicle depth: 214.704977 # Seafloor depth: -299.238363 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.13; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 338.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.491768 meters # Minimum depth: 289.603321 meters looking forward 50.000000 meters along route # Maximum depth: 301.385496 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 214.603321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.523858; longitude = -121.230046; captureRadius = 10; duration = 110; initialDepth = 218.037068; finalDepth = 214.603321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.533386 # Actual altitude: 84.533386 # Commanded vehicle depth: 214.603321 # Seafloor depth: -289.603321 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.13; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 338.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.955753 meters # Minimum depth: 293.037068 meters looking forward 50.000000 meters along route # Maximum depth: 299.211094 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 218.037068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524281; longitude = -121.229719; captureRadius = 10; duration = 101; initialDepth = 214.247080; finalDepth = 218.037068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.174026 # Actual altitude: 81.174026 # Commanded vehicle depth: 218.037068 # Seafloor depth: -299.211094 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.70; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 324.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.223659 meters # Minimum depth: 289.247080 meters looking forward 50.000000 meters along route # Maximum depth: 292.811721 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 214.247080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.524670; longitude = -121.229419; captureRadius = 10; duration = 106; initialDepth = 213.140918; finalDepth = 214.247080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.174026 # Actual altitude: 81.174026 # Commanded vehicle depth: 214.24708 # Seafloor depth: -292.811721 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.70; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 324.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.008519 meters # Minimum depth: 288.140918 meters looking forward 50.000000 meters along route # Maximum depth: 297.002850 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 213.140918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525075; longitude = -121.229106; captureRadius = 10; duration = 110; initialDepth = 209.482335; finalDepth = 213.140918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.564641 # Actual altitude: 78.564641 # Commanded vehicle depth: 213.140918 # Seafloor depth: -289.066989 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.26; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.57; MB_Bottom_Detect_Filter_Max_Range = 314.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.438594 meters # Minimum depth: 284.482335 meters looking forward 50.000000 meters along route # Maximum depth: 299.176560 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 209.482335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525495; longitude = -121.228782; captureRadius = 10; duration = 102; initialDepth = 203.702706; finalDepth = 209.482335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.826266 # Actual altitude: 87.826266 # Commanded vehicle depth: 209.482335 # Seafloor depth: -297.308601 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.35; 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 1 # Segment length 53.223454 meters # Minimum depth: 278.702706 meters looking forward 50.000000 meters along route # Maximum depth: 285.284659 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 203.702706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.525887; longitude = -121.228479; captureRadius = 10; duration = 106; initialDepth = 201.015042; finalDepth = 203.702706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.826266 # Actual altitude: 87.826266 # Commanded vehicle depth: 203.702706 # Seafloor depth: -285.130381 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.35; 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 1 # Segment length 54.525276 meters # Minimum depth: 276.015042 meters looking forward 50.000000 meters along route # Maximum depth: 281.398521 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 201.015042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526292; longitude = -121.228166; captureRadius = 10; duration = 109; initialDepth = 204.003524; finalDepth = 201.015042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.427675 # Actual altitude: 81.427675 # Commanded vehicle depth: 201.015042 # Seafloor depth: -278.349280 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.71; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.43; MB_Bottom_Detect_Filter_Max_Range = 325.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.921430 meters # Minimum depth: 279.003524 meters looking forward 50.000000 meters along route # Maximum depth: 281.449391 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 204.003524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526708; longitude = -121.227845; captureRadius = 10; duration = 103; initialDepth = 202.111367; finalDepth = 204.003524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.334238 # Actual altitude: 77.334238 # Commanded vehicle depth: 204.003524 # Seafloor depth: -281.270407 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.34; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 309.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.223250 meters # Minimum depth: 277.111367 meters looking forward 50.000000 meters along route # Maximum depth: 279.193088 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 202.111367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527104; longitude = -121.227539; captureRadius = 10; duration = 106; initialDepth = 200.613952; finalDepth = 202.111367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.266883 # Actual altitude: 77.266883 # Commanded vehicle depth: 202.111367 # Seafloor depth: -278.789676 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.07; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.18; MB_Bottom_Detect_Filter_Max_Range = 309.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.042036 meters # Minimum depth: 275.613952 meters looking forward 50.000000 meters along route # Maximum depth: 277.455691 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 200.613952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527509; longitude = -121.227226; captureRadius = 10; duration = 108; initialDepth = 193.921252; finalDepth = 200.613952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.678309 # Actual altitude: 76.678309 # Commanded vehicle depth: 200.613952 # Seafloor depth: -277.000838 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.71; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.00; MB_Bottom_Detect_Filter_Max_Range = 306.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.404262 meters # Minimum depth: 268.921252 meters looking forward 50.000000 meters along route # Maximum depth: 277.120754 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 193.921252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527921; longitude = -121.226908; captureRadius = 10; duration = 104; initialDepth = 191.883889; finalDepth = 193.921252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.199502 # Actual altitude: 83.199502 # Commanded vehicle depth: 193.921252 # Seafloor depth: -277.120754 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.80; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 332.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.223047 meters # Minimum depth: 266.883889 meters looking forward 50.000000 meters along route # Maximum depth: 268.792531 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 191.883889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528320; longitude = -121.226600; captureRadius = 10; duration = 106; initialDepth = 190.115533; finalDepth = 191.883889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.199502 # Actual altitude: 83.199502 # Commanded vehicle depth: 191.883889 # Seafloor depth: -268.792531 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.80; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 332.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.558799 meters # Minimum depth: 265.115533 meters looking forward 50.000000 meters along route # Maximum depth: 266.789713 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 190.115533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528726; longitude = -121.226286; captureRadius = 10; duration = 107; initialDepth = 174.217534; finalDepth = 190.115533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.908642 # Actual altitude: 76.908642 # Commanded vehicle depth: 190.115533 # Seafloor depth: -266.789713 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.63; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 307.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.887090 meters # Minimum depth: 249.217534 meters looking forward 50.000000 meters along route # Maximum depth: 265.027086 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 174.217534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529134; longitude = -121.225971; captureRadius = 10; duration = 105; initialDepth = 184.536741; finalDepth = 174.217534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.809552 # Actual altitude: 90.809552 # Commanded vehicle depth: 174.217534 # Seafloor depth: -265.027086 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.24; 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 1 # Segment length 50.115361 meters # Minimum depth: 259.536741 meters looking forward 50.000000 meters along route # Maximum depth: 262.939859 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 184.536741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529537; longitude = -121.225660; captureRadius = 10; duration = 100; initialDepth = 183.087588; finalDepth = 184.536741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.809552 # Actual altitude: 90.809552 # Commanded vehicle depth: 184.536741 # Seafloor depth: -259.536741 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.24; 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 1 # Segment length 50.416619 meters # Minimum depth: 258.087588 meters looking forward 50.000000 meters along route # Maximum depth: 260.070411 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 183.087588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529919; longitude = -121.225365; captureRadius = 10; duration = 100; initialDepth = 181.824849; finalDepth = 183.087588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.982823 # Actual altitude: 76.982823 # Commanded vehicle depth: 183.087588 # Seafloor depth: -260.070411 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.93; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.09; MB_Bottom_Detect_Filter_Max_Range = 307.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.222714 meters # Minimum depth: 256.824849 meters looking forward 50.000000 meters along route # Maximum depth: 258.054020 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 181.824849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530304; longitude = -121.225068; captureRadius = 10; duration = 106; initialDepth = 178.553078; finalDepth = 181.824849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.982823 # Actual altitude: 76.982823 # Commanded vehicle depth: 181.824849 # Seafloor depth: -257.935437 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.93; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.09; MB_Bottom_Detect_Filter_Max_Range = 307.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.545774 meters # Minimum depth: 253.553078 meters looking forward 50.000000 meters along route # Maximum depth: 261.887087 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 178.553078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530709; longitude = -121.224754; captureRadius = 10; duration = 111; initialDepth = 183.612262; finalDepth = 178.553078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.554085 # Actual altitude: 79.554085 # Commanded vehicle depth: 178.553078 # Seafloor depth: -258.107163 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.22; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.87; MB_Bottom_Detect_Filter_Max_Range = 318.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.899451 meters # Minimum depth: 258.612262 meters looking forward 50.000000 meters along route # Maximum depth: 262.438845 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 183.612262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531133; longitude = -121.224427; captureRadius = 10; duration = 101; initialDepth = 178.253777; finalDepth = 183.612262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.554085 # Actual altitude: 79.554085 # Commanded vehicle depth: 183.612262 # Seafloor depth: -262.024609 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.22; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.87; MB_Bottom_Detect_Filter_Max_Range = 318.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.222511 meters # Minimum depth: 253.253777 meters looking forward 50.000000 meters along route # Maximum depth: 258.611976 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 178.253777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531521; longitude = -121.224128; captureRadius = 10; duration = 106; initialDepth = 177.540318; finalDepth = 178.253777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.358199 # Actual altitude: 80.358199 # Commanded vehicle depth: 178.253777 # Seafloor depth: -258.611976 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.43; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 321.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.062536 meters # Minimum depth: 252.540318 meters looking forward 50.000000 meters along route # Maximum depth: 257.079898 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 177.540318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531926; longitude = -121.223814; captureRadius = 10; duration = 110; initialDepth = 175.473332; finalDepth = 177.540318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.358199 # Actual altitude: 80.358199 # Commanded vehicle depth: 177.540318 # Seafloor depth: -253.235921 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.43; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 321.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.382281 meters # Minimum depth: 250.473332 meters looking forward 50.000000 meters along route # Maximum depth: 252.735728 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 175.473332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532346; longitude = -121.223490; captureRadius = 10; duration = 102; initialDepth = 168.080235; finalDepth = 175.473332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.257641 # Actual altitude: 77.257641 # Commanded vehicle depth: 175.473332 # Seafloor depth: -252.730973 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.03; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.18; MB_Bottom_Detect_Filter_Max_Range = 309.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.222307 meters # Minimum depth: 243.080235 meters looking forward 50.000000 meters along route # Maximum depth: 252.225540 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 168.080235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532738; longitude = -121.223188; captureRadius = 10; duration = 106; initialDepth = 168.960266; finalDepth = 168.080235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.145305 # Actual altitude: 84.145305 # Commanded vehicle depth: 168.080235 # Seafloor depth: -252.225540 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 336.58; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 336.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.579303 meters # Minimum depth: 243.960266 meters looking forward 50.000000 meters along route # Maximum depth: 247.548315 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 168.960266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533143; longitude = -121.222874; captureRadius = 10; duration = 109; initialDepth = 165.765148; finalDepth = 168.960266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.145305 # Actual altitude: 84.145305 # Commanded vehicle depth: 168.960266 # Seafloor depth: -247.548315 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 336.58; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 336.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.865107 meters # Minimum depth: 240.765148 meters looking forward 50.000000 meters along route # Maximum depth: 243.738266 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 165.765148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533559; longitude = -121.222553; captureRadius = 10; duration = 103; initialDepth = 162.375977; finalDepth = 165.765148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.588049 # Actual altitude: 78.588049 # Commanded vehicle depth: 165.765148 # Seafloor depth: -243.738266 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.35; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.58; MB_Bottom_Detect_Filter_Max_Range = 314.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.222103 meters # Minimum depth: 237.375977 meters looking forward 50.000000 meters along route # Maximum depth: 239.937557 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 162.375977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533954; longitude = -121.222248; captureRadius = 10; duration = 106; initialDepth = 160.896493; finalDepth = 162.375977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.973118 # Actual altitude: 77.973118 # Commanded vehicle depth: 162.375977 # Seafloor depth: -239.772725 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.89; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.39; MB_Bottom_Detect_Filter_Max_Range = 311.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.096072 meters # Minimum depth: 235.896493 meters looking forward 50.000000 meters along route # Maximum depth: 238.286079 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 160.896493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534360; longitude = -121.221935; captureRadius = 10; duration = 108; initialDepth = 157.475543; finalDepth = 160.896493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.396748 # Actual altitude: 77.396748 # Commanded vehicle depth: 160.896493 # Seafloor depth: -237.700556 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.59; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.22; MB_Bottom_Detect_Filter_Max_Range = 309.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.347929 meters # Minimum depth: 232.475543 meters looking forward 50.000000 meters along route # Maximum depth: 237.937932 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 157.475543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534772; longitude = -121.221616; captureRadius = 10; duration = 104; initialDepth = 158.194910; finalDepth = 157.475543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.347302 # Actual altitude: 78.347302 # Commanded vehicle depth: 157.475543 # Seafloor depth: -235.822845 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.39; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.50; MB_Bottom_Detect_Filter_Max_Range = 313.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.221899 meters # Minimum depth: 233.194910 meters looking forward 50.000000 meters along route # Maximum depth: 241.247077 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 158.194910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.535171; longitude = -121.221308; captureRadius = 10; duration = 106; initialDepth = 156.671278; finalDepth = 158.194910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.347302 # Actual altitude: 78.347302 # Commanded vehicle depth: 158.19491 # Seafloor depth: -234.778252 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.39; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.50; MB_Bottom_Detect_Filter_Max_Range = 313.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.612847 meters # Minimum depth: 231.671278 meters looking forward 50.000000 meters along route # Maximum depth: 232.927808 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 156.671278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.535577; longitude = -121.220995; captureRadius = 10; duration = 107; initialDepth = 156.176943; finalDepth = 156.671278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.583342 # Actual altitude: 76.583342 # Commanded vehicle depth: 156.671278 # Seafloor depth: -232.927808 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.33; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 306.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.830748 meters # Minimum depth: 231.176943 meters looking forward 50.000000 meters along route # Maximum depth: 234.215391 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 156.176943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.535986; longitude = -121.220679; captureRadius = 10; duration = 105; initialDepth = 146.960273; finalDepth = 156.176943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.25653 # Actual altitude: 76.25653 # Commanded vehicle depth: 156.176943 # Seafloor depth: -231.638109 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.03; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.88; MB_Bottom_Detect_Filter_Max_Range = 305.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.169482 meters # Minimum depth: 221.960273 meters looking forward 50.000000 meters along route # Maximum depth: 236.044301 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 146.960273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.536388; longitude = -121.220368; captureRadius = 10; duration = 100; initialDepth = 145.314234; finalDepth = 146.960273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.867315 # Actual altitude: 87.867315 # Commanded vehicle depth: 146.960273 # Seafloor depth: -234.827588 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.36; 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 1 # Segment length 50.360329 meters # Minimum depth: 220.314234 meters looking forward 50.000000 meters along route # Maximum depth: 225.865415 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 145.314234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.536771; longitude = -121.220073; captureRadius = 10; duration = 100; initialDepth = 145.631988; finalDepth = 145.314234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.867315 # Actual altitude: 87.867315 # Commanded vehicle depth: 145.314234 # Seafloor depth: -221.015103 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.36; 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 1 # Segment length 53.221567 meters # Minimum depth: 220.631988 meters looking forward 50.000000 meters along route # Maximum depth: 224.598780 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 145.631988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.537155; longitude = -121.219776; captureRadius = 10; duration = 106; initialDepth = 142.474477; finalDepth = 145.631988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.168478 # Actual altitude: 78.168478 # Commanded vehicle depth: 145.631988 # Seafloor depth: -223.800466 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.67; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.45; MB_Bottom_Detect_Filter_Max_Range = 312.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.599778 meters # Minimum depth: 217.474477 meters looking forward 50.000000 meters along route # Maximum depth: 220.529532 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 142.474477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.537560; longitude = -121.219463; captureRadius = 10; duration = 111; initialDepth = 136.115369; finalDepth = 142.474477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.168478 # Actual altitude: 78.168478 # Commanded vehicle depth: 142.474477 # Seafloor depth: -220.529532 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.67; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.45; MB_Bottom_Detect_Filter_Max_Range = 312.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.843152 meters # Minimum depth: 211.115369 meters looking forward 50.000000 meters along route # Maximum depth: 219.244212 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 136.115369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.537984; longitude = -121.219135; captureRadius = 10; duration = 101; initialDepth = 137.792993; finalDepth = 136.115369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.128843 # Actual altitude: 83.128843 # Commanded vehicle depth: 136.115369 # Seafloor depth: -219.244212 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.52; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.94; MB_Bottom_Detect_Filter_Max_Range = 332.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.221363 meters # Minimum depth: 212.792993 meters looking forward 50.000000 meters along route # Maximum depth: 217.889480 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 137.792993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.538372; longitude = -121.218836; captureRadius = 10; duration = 106; initialDepth = 135.949659; finalDepth = 137.792993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.128843 # Actual altitude: 83.128843 # Commanded vehicle depth: 137.792993 # Seafloor depth: -216.208540 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.52; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.94; MB_Bottom_Detect_Filter_Max_Range = 332.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.116550 meters # Minimum depth: 210.949659 meters looking forward 50.000000 meters along route # Maximum depth: 213.343048 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 135.949659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.538777; longitude = -121.218523; captureRadius = 10; duration = 110; initialDepth = 128.156016; finalDepth = 135.949659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.415547 # Actual altitude: 78.415547 # Commanded vehicle depth: 135.949659 # Seafloor depth: -212.730458 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.66; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.52; MB_Bottom_Detect_Filter_Max_Range = 313.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.325971 meters # Minimum depth: 203.156016 meters looking forward 50.000000 meters along route # Maximum depth: 214.134091 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 128.156016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.539197; longitude = -121.218198; captureRadius = 10; duration = 102; initialDepth = 126.594503; finalDepth = 128.156016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.138482 # Actual altitude: 85.138482 # Commanded vehicle depth: 128.156016 # Seafloor depth: -213.294498 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.55; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 340.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.221160 meters # Minimum depth: 201.594503 meters looking forward 50.000000 meters along route # Maximum depth: 209.786723 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 126.594503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.539588; longitude = -121.217896; captureRadius = 10; duration = 106; initialDepth = 126.636824; finalDepth = 126.594503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.138482 # Actual altitude: 85.138482 # Commanded vehicle depth: 126.594503 # Seafloor depth: -209.786723 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.55; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 340.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.633327 meters # Minimum depth: 201.636824 meters looking forward 50.000000 meters along route # Maximum depth: 207.648235 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 126.636824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.539994; longitude = -121.217583; captureRadius = 10; duration = 109; initialDepth = 125.650495; finalDepth = 126.636824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.19222 # Actual altitude: 83.19222 # Commanded vehicle depth: 126.636824 # Seafloor depth: -207.648235 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.77; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 332.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.808787 meters # Minimum depth: 200.650495 meters looking forward 50.000000 meters along route # Maximum depth: 201.839679 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 125.650495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.540411; longitude = -121.217261; captureRadius = 10; duration = 103; initialDepth = 121.265690; finalDepth = 125.650495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.011411 # Actual altitude: 81.011411 # Commanded vehicle depth: 125.650495 # Seafloor depth: -201.677495 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.05; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 324.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.220955 meters # Minimum depth: 196.265690 meters looking forward 50.000000 meters along route # Maximum depth: 200.311080 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 121.265690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.540805; longitude = -121.216956; captureRadius = 10; duration = 106; initialDepth = 120.144587; finalDepth = 121.265690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.04539 # Actual altitude: 79.04539 # Commanded vehicle depth: 121.26569 # Seafloor depth: -200.311080 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.18; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.71; MB_Bottom_Detect_Filter_Max_Range = 316.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.150107 meters # Minimum depth: 195.144587 meters looking forward 50.000000 meters along route # Maximum depth: 198.637442 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 120.144587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.541211; longitude = -121.216643; captureRadius = 10; duration = 108; initialDepth = 117.903072; finalDepth = 120.144587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.04539 # Actual altitude: 79.04539 # Commanded vehicle depth: 120.144587 # Seafloor depth: -196.269751 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.18; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.71; MB_Bottom_Detect_Filter_Max_Range = 316.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.291600 meters # Minimum depth: 192.903072 meters looking forward 50.000000 meters along route # Maximum depth: 197.969659 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 117.903072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.541624; longitude = -121.216324; captureRadius = 10; duration = 104; initialDepth = 109.507856; finalDepth = 117.903072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.066587 # Actual altitude: 80.066587 # Commanded vehicle depth: 117.903072 # Seafloor depth: -197.969659 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.27; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.02; MB_Bottom_Detect_Filter_Max_Range = 320.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.220751 meters # Minimum depth: 184.507856 meters looking forward 50.000000 meters along route # Maximum depth: 193.081029 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 109.507856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.542022; longitude = -121.216016; captureRadius = 10; duration = 106; initialDepth = 108.206676; finalDepth = 109.507856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.2141 # Actual altitude: 82.2141 # Commanded vehicle depth: 109.507856 # Seafloor depth: -191.721956 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.86; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.66; MB_Bottom_Detect_Filter_Max_Range = 328.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.666891 meters # Minimum depth: 183.206676 meters looking forward 50.000000 meters along route # Maximum depth: 190.106094 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 108.206676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.542428; longitude = -121.215703; captureRadius = 10; duration = 107; initialDepth = 111.410102; finalDepth = 108.206676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.2141 # Actual altitude: 82.2141 # Commanded vehicle depth: 108.206676 # Seafloor depth: -184.021756 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.86; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.66; MB_Bottom_Detect_Filter_Max_Range = 328.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.774408 meters # Minimum depth: 186.410102 meters looking forward 50.000000 meters along route # Maximum depth: 188.794819 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 111.410102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.542837; longitude = -121.215387; captureRadius = 10; duration = 105; initialDepth = 104.905318; finalDepth = 111.410102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.384717 # Actual altitude: 77.384717 # Commanded vehicle depth: 111.410102 # Seafloor depth: -188.794819 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.54; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.22; MB_Bottom_Detect_Filter_Max_Range = 309.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.223601 meters # Minimum depth: 179.905318 meters looking forward 50.000000 meters along route # Maximum depth: 185.427367 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 104.905318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.543239; longitude = -121.215076; captureRadius = 10; duration = 100; initialDepth = 103.248094; finalDepth = 104.905318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.522049 # Actual altitude: 80.522049 # Commanded vehicle depth: 104.905318 # Seafloor depth: -185.427367 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.09; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 322.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.304043 meters # Minimum depth: 178.248094 meters looking forward 50.000000 meters along route # Maximum depth: 181.192826 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 103.248094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.543622; longitude = -121.214781; captureRadius = 10; duration = 100; initialDepth = 95.054211; finalDepth = 103.248094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.522049 # Actual altitude: 80.522049 # Commanded vehicle depth: 103.248094 # Seafloor depth: -179.616075 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.09; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 322.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.220419 meters # Minimum depth: 170.054211 meters looking forward 50.000000 meters along route # Maximum depth: 177.330114 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 95.054211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.544006; longitude = -121.214484; captureRadius = 10; duration = 106; initialDepth = 96.105204; finalDepth = 95.054211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.275903 # Actual altitude: 82.275903 # Commanded vehicle depth: 95.054211 # Seafloor depth: -177.330114 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.10; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.68; MB_Bottom_Detect_Filter_Max_Range = 329.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.653779 meters # Minimum depth: 171.105204 meters looking forward 50.000000 meters along route # Maximum depth: 178.806765 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 96.105204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.544411; longitude = -121.214171; captureRadius = 10; duration = 111; initialDepth = 96.113690; finalDepth = 96.105204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.275903 # Actual altitude: 82.275903 # Commanded vehicle depth: 96.105204 # Seafloor depth: -174.238043 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.10; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.68; MB_Bottom_Detect_Filter_Max_Range = 329.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.786855 meters # Minimum depth: 171.113690 meters looking forward 50.000000 meters along route # Maximum depth: 174.061185 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 96.113690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.544835; longitude = -121.213844; captureRadius = 10; duration = 101; initialDepth = 92.142582; finalDepth = 96.113690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.132839 # Actual altitude: 78.132839 # Commanded vehicle depth: 96.11369 # Seafloor depth: -171.152607 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.53; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 312.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.220215 meters # Minimum depth: 167.142582 meters looking forward 50.000000 meters along route # Maximum depth: 171.479295 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 92.142582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.545223; longitude = -121.213545; captureRadius = 10; duration = 106; initialDepth = 93.062129; finalDepth = 92.142582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.069463 # Actual altitude: 79.069463 # Commanded vehicle depth: 92.142582 # Seafloor depth: -171.212045 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.28; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.72; MB_Bottom_Detect_Filter_Max_Range = 316.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.170563 meters # Minimum depth: 168.062129 meters looking forward 50.000000 meters along route # Maximum depth: 169.450789 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 93.062129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.545628; longitude = -121.213231; captureRadius = 10; duration = 110; initialDepth = 91.743431; finalDepth = 93.062129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.069463 # Actual altitude: 79.069463 # Commanded vehicle depth: 93.062129 # Seafloor depth: -169.450789 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.28; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.72; MB_Bottom_Detect_Filter_Max_Range = 316.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.269664 meters # Minimum depth: 166.743431 meters looking forward 50.000000 meters along route # Maximum depth: 169.023797 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 91.743431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.546049; longitude = -121.212906; captureRadius = 10; duration = 102; initialDepth = 85.228044; finalDepth = 91.743431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.38866 # Actual altitude: 76.38866 # Commanded vehicle depth: 91.743431 # Seafloor depth: -167.943648 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.55; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.92; MB_Bottom_Detect_Filter_Max_Range = 305.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.220012 meters # Minimum depth: 160.228044 meters looking forward 50.000000 meters along route # Maximum depth: 165.126566 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 85.228044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.546439; longitude = -121.212605; captureRadius = 10; duration = 106; initialDepth = 83.488787; finalDepth = 85.228044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.898522 # Actual altitude: 79.898522 # Commanded vehicle depth: 85.228044 # Seafloor depth: -165.126566 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.59; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.97; MB_Bottom_Detect_Filter_Max_Range = 319.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.687349 meters # Minimum depth: 158.488787 meters looking forward 50.000000 meters along route # Maximum depth: 165.370483 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 83.488787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.546845; longitude = -121.212291; captureRadius = 10; duration = 109; initialDepth = 82.000809; finalDepth = 83.488787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.881696 # Actual altitude: 81.881696 # Commanded vehicle depth: 83.488787 # Seafloor depth: -165.370483 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.53; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.56; MB_Bottom_Detect_Filter_Max_Range = 327.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.752470 meters # Minimum depth: 157.000809 meters looking forward 50.000000 meters along route # Maximum depth: 159.848768 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 82.000809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.547262; longitude = -121.211969; captureRadius = 10; duration = 103; initialDepth = 75.636990; finalDepth = 82.000809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.881696 # Actual altitude: 81.881696 # Commanded vehicle depth: 82.000809 # Seafloor depth: -159.417350 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.53; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.56; MB_Bottom_Detect_Filter_Max_Range = 327.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.219808 meters # Minimum depth: 150.636990 meters looking forward 50.000000 meters along route # Maximum depth: 157.679435 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 75.636990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.547656; longitude = -121.211665; captureRadius = 10; duration = 106; initialDepth = 73.109252; finalDepth = 75.636990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.042445 # Actual altitude: 82.042445 # Commanded vehicle depth: 75.63699 # Seafloor depth: -157.679435 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.17; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 328.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.204139 meters # Minimum depth: 148.109252 meters looking forward 50.000000 meters along route # Maximum depth: 151.564496 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 73.109252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.548062; longitude = -121.211351; captureRadius = 10; duration = 108; initialDepth = 70.692945; finalDepth = 73.109252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.042445 # Actual altitude: 82.042445 # Commanded vehicle depth: 73.109252 # Seafloor depth: -151.564496 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.17; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 328.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.235272 meters # Minimum depth: 145.692945 meters looking forward 50.000000 meters along route # Maximum depth: 149.140913 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 70.692945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.548475; longitude = -121.211032; captureRadius = 10; duration = 104; initialDepth = 67.908264; finalDepth = 70.692945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.455244 # Actual altitude: 78.455244 # Commanded vehicle depth: 70.692945 # Seafloor depth: -149.140913 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.82; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 313.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.219604 meters # Minimum depth: 142.908264 meters looking forward 50.000000 meters along route # Maximum depth: 146.391680 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 67.908264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.548873; longitude = -121.210725; captureRadius = 10; duration = 106; initialDepth = 60.652634; finalDepth = 67.908264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.483416 # Actual altitude: 78.483416 # Commanded vehicle depth: 67.908264 # Seafloor depth: -146.391680 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.93; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 313.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.720934 meters # Minimum depth: 135.652634 meters looking forward 50.000000 meters along route # Maximum depth: 143.076379 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 60.652634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.549279; longitude = -121.210411; captureRadius = 10; duration = 107; initialDepth = 58.528652; finalDepth = 60.652634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.423745 # Actual altitude: 82.423745 # Commanded vehicle depth: 60.652634 # Seafloor depth: -143.076379 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.69; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 329.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.718070 meters # Minimum depth: 133.528652 meters looking forward 50.000000 meters along route # Maximum depth: 139.350226 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 58.528652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.549688; longitude = -121.210095; captureRadius = 10; duration = 105; initialDepth = 57.959008; finalDepth = 58.528652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.423745 # Actual altitude: 82.423745 # Commanded vehicle depth: 58.528652 # Seafloor depth: -136.116918 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.69; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 329.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.277718 meters # Minimum depth: 132.959008 meters looking forward 50.000000 meters along route # Maximum depth: 135.937033 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 57.959008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.550090; longitude = -121.209785; captureRadius = 10; duration = 100; initialDepth = 53.876714; finalDepth = 57.959008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.978025 # Actual altitude: 77.978025 # Commanded vehicle depth: 57.959008 # Seafloor depth: -135.937033 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.91; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.39; MB_Bottom_Detect_Filter_Max_Range = 311.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.247758 meters # Minimum depth: 128.876714 meters looking forward 50.000000 meters along route # Maximum depth: 132.726268 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 53.876714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.550474; longitude = -121.209489; captureRadius = 10; duration = 100; initialDepth = 52.890882; finalDepth = 53.876714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.849554 # Actual altitude: 78.849554 # Commanded vehicle depth: 53.876714 # Seafloor depth: -132.726268 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.40; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.65; MB_Bottom_Detect_Filter_Max_Range = 315.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.219272 meters # Minimum depth: 127.890882 meters looking forward 50.000000 meters along route # Maximum depth: 130.181892 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 52.890882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.550857; longitude = -121.209193; captureRadius = 10; duration = 106; initialDepth = 51.463540; finalDepth = 52.890882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.849554 # Actual altitude: 78.849554 # Commanded vehicle depth: 52.890882 # Seafloor depth: -128.430548 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.40; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.65; MB_Bottom_Detect_Filter_Max_Range = 315.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.707778 meters # Minimum depth: 126.463540 meters looking forward 50.000000 meters along route # Maximum depth: 130.013586 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 51.463540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.551262; longitude = -121.208880; captureRadius = 10; duration = 111; initialDepth = 52.062029; finalDepth = 51.463540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.121484 # Actual altitude: 77.121484 # Commanded vehicle depth: 51.46354 # Seafloor depth: -128.585024 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.49; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 308.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.730561 meters # Minimum depth: 127.062029 meters looking forward 50.000000 meters along route # Maximum depth: 127.180637 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 52.062029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.551687; longitude = -121.208552; captureRadius = 10; duration = 101; initialDepth = 52.187373; finalDepth = 52.062029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.121484 # Actual altitude: 77.121484 # Commanded vehicle depth: 52.062029 # Seafloor depth: -127.062029 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.49; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 308.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.219068 meters # Minimum depth: 127.187373 meters looking forward 50.000000 meters along route # Maximum depth: 127.269281 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 52.187373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.552073; longitude = -121.208253; captureRadius = 10; duration = 106; initialDepth = 47.582636; finalDepth = 52.187373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 52.187373 # Seafloor depth: -127.187373 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.224572 meters # Minimum depth: 122.582636 meters looking forward 50.000000 meters along route # Maximum depth: 127.275172 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 47.582636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.552479; longitude = -121.207940; captureRadius = 10; duration = 110; initialDepth = 44.078466; finalDepth = 47.582636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.687251 # Actual altitude: 79.687251 # Commanded vehicle depth: 47.582636 # Seafloor depth: -127.269887 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.75; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.91; MB_Bottom_Detect_Filter_Max_Range = 318.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.213360 meters # Minimum depth: 119.078466 meters looking forward 50.000000 meters along route # Maximum depth: 121.261796 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 44.078466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.552900; longitude = -121.207614; captureRadius = 10; duration = 102; initialDepth = 42.078924; finalDepth = 44.078466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.687251 # Actual altitude: 79.687251 # Commanded vehicle depth: 44.078466 # Seafloor depth: -121.261796 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.75; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.91; MB_Bottom_Detect_Filter_Max_Range = 318.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.218864 meters # Minimum depth: 117.078924 meters looking forward 50.000000 meters along route # Maximum depth: 118.902717 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 42.078924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.553290; longitude = -121.207313; captureRadius = 10; duration = 106; initialDepth = 40.931728; finalDepth = 42.078924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.18333 # Actual altitude: 77.18333 # Commanded vehicle depth: 42.078924 # Seafloor depth: -118.902717 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.73; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.15; MB_Bottom_Detect_Filter_Max_Range = 308.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.741369 meters # Minimum depth: 115.931728 meters looking forward 50.000000 meters along route # Maximum depth: 117.038479 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 40.931728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.553696; longitude = -121.207000; captureRadius = 10; duration = 109; initialDepth = 40.312668; finalDepth = 40.931728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.823793 # Actual altitude: 76.823793 # Commanded vehicle depth: 40.931728 # Seafloor depth: -117.038479 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.30; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.05; MB_Bottom_Detect_Filter_Max_Range = 307.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.696155 meters # Minimum depth: 115.312668 meters looking forward 50.000000 meters along route # Maximum depth: 115.909601 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 40.312668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.554113; longitude = -121.206677; captureRadius = 10; duration = 103; initialDepth = 39.310037; finalDepth = 40.312668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.106751 # Actual altitude: 76.106751 # Commanded vehicle depth: 40.312668 # Seafloor depth: -115.909601 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.43; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 304.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.218660 meters # Minimum depth: 114.310037 meters looking forward 50.000000 meters along route # Maximum depth: 115.248442 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 39.310037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.554507; longitude = -121.206373; captureRadius = 10; duration = 106; initialDepth = 37.671433; finalDepth = 39.310037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.938405 # Actual altitude: 75.938405 # Commanded vehicle depth: 39.310037 # Seafloor depth: -115.248442 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.75; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.78; MB_Bottom_Detect_Filter_Max_Range = 303.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.258170 meters # Minimum depth: 112.671433 meters looking forward 50.000000 meters along route # Maximum depth: 114.263498 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 37.671433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.554913; longitude = -121.206060; captureRadius = 10; duration = 108; initialDepth = 35.832405; finalDepth = 37.671433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.592065 # Actual altitude: 76.592065 # Commanded vehicle depth: 37.671433 # Seafloor depth: -114.263498 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.37; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 306.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.178947 meters # Minimum depth: 110.832405 meters looking forward 50.000000 meters along route # Maximum depth: 112.633717 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 35.832405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.555327; longitude = -121.205740; captureRadius = 10; duration = 104; initialDepth = 33.621277; finalDepth = 35.832405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.801312 # Actual altitude: 76.801312 # Commanded vehicle depth: 35.832405 # Seafloor depth: -112.633717 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.21; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 307.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.218456 meters # Minimum depth: 108.621277 meters looking forward 50.000000 meters along route # Maximum depth: 110.615346 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 33.621277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.555724; longitude = -121.205433; captureRadius = 10; duration = 106; initialDepth = 31.810831; finalDepth = 33.621277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.994069 # Actual altitude: 76.994069 # Commanded vehicle depth: 33.621277 # Seafloor depth: -110.615346 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.98; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 307.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.774975 meters # Minimum depth: 106.810831 meters looking forward 50.000000 meters along route # Maximum depth: 108.533474 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 31.810831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.556130; longitude = -121.205120; captureRadius = 10; duration = 107; initialDepth = 30.725725; finalDepth = 31.810831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.994069 # Actual altitude: 76.994069 # Commanded vehicle depth: 31.810831 # Seafloor depth: -108.533474 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.98; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 307.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.661735 meters # Minimum depth: 105.725725 meters looking forward 50.000000 meters along route # Maximum depth: 106.795185 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 30.725725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.556540; longitude = -121.204803; captureRadius = 10; duration = 105; initialDepth = 29.960613; finalDepth = 30.725725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.722643 # Actual altitude: 76.722643 # Commanded vehicle depth: 30.725725 # Seafloor depth: -106.795185 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.89; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.02; MB_Bottom_Detect_Filter_Max_Range = 306.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.331832 meters # Minimum depth: 104.960613 meters looking forward 50.000000 meters along route # Maximum depth: 105.618196 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 29.960613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.556941; longitude = -121.204493; captureRadius = 10; duration = 100; initialDepth = 29.565002; finalDepth = 29.960613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.06946 # Actual altitude: 76.06946 # Commanded vehicle depth: 29.960613 # Seafloor depth: -105.618196 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.28; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 304.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.191477 meters # Minimum depth: 104.565002 meters looking forward 50.000000 meters along route # Maximum depth: 104.928701 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 29.565002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.557325; longitude = -121.204197; captureRadius = 10; duration = 100; initialDepth = 29.345414; finalDepth = 29.565002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.657583 # Actual altitude: 75.657583 # Commanded vehicle depth: 29.565002 # Seafloor depth: -104.928701 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.63; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 302.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.218124 meters # Minimum depth: 104.345414 meters looking forward 50.000000 meters along route # Maximum depth: 104.547452 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 29.345414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.557707; longitude = -121.203901; captureRadius = 10; duration = 106; initialDepth = 29.252038; finalDepth = 29.345414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.363699 # Actual altitude: 75.363699 # Commanded vehicle depth: 29.345414 # Seafloor depth: -104.547452 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.45; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 301.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.761776 meters # Minimum depth: 104.252038 meters looking forward 50.000000 meters along route # Maximum depth: 104.344336 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 29.252038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.558113; longitude = -121.203588; captureRadius = 10; duration = 111; initialDepth = 29.181518; finalDepth = 29.252038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.202038 # Actual altitude: 75.202038 # Commanded vehicle depth: 29.252038 # Seafloor depth: -104.344336 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.81; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 300.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.674269 meters # Minimum depth: 104.181518 meters looking forward 50.000000 meters along route # Maximum depth: 104.248876 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 29.181518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.558538; longitude = -121.203260; captureRadius = 10; duration = 101; initialDepth = 28.950448; finalDepth = 29.181518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.092298 # Actual altitude: 75.092298 # Commanded vehicle depth: 29.181518 # Seafloor depth: -104.248876 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.37; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 300.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.217920 meters # Minimum depth: 103.950448 meters looking forward 50.000000 meters along route # Maximum depth: 104.172964 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 28.950448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.558924; longitude = -121.202961; captureRadius = 10; duration = 106; initialDepth = 28.336587; finalDepth = 28.950448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.222516 # Actual altitude: 75.222516 # Commanded vehicle depth: 28.950448 # Seafloor depth: -104.172964 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.89; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.57; MB_Bottom_Detect_Filter_Max_Range = 300.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.278580 meters # Minimum depth: 103.336587 meters looking forward 50.000000 meters along route # Maximum depth: 103.943944 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 28.336587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.559330; longitude = -121.202648; captureRadius = 10; duration = 110; initialDepth = 27.378476; finalDepth = 28.336587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.607357 # Actual altitude: 75.607357 # Commanded vehicle depth: 28.336587 # Seafloor depth: -103.943944 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.43; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 302.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.157057 meters # Minimum depth: 102.378476 meters looking forward 50.000000 meters along route # Maximum depth: 103.303414 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 27.378476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.559751; longitude = -121.202323; captureRadius = 10; duration = 102; initialDepth = 25.953657; finalDepth = 27.378476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.924938 # Actual altitude: 75.924938 # Commanded vehicle depth: 27.378476 # Seafloor depth: -103.303414 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.70; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.78; MB_Bottom_Detect_Filter_Max_Range = 303.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.217717 meters # Minimum depth: 100.953657 meters looking forward 50.000000 meters along route # Maximum depth: 102.276721 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 25.953657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.560141; longitude = -121.202021; captureRadius = 10; duration = 106; initialDepth = 24.582665; finalDepth = 25.953657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.323064 # Actual altitude: 76.323064 # Commanded vehicle depth: 25.953657 # Seafloor depth: -102.276721 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.29; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 305.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.795387 meters # Minimum depth: 99.582665 meters looking forward 50.000000 meters along route # Maximum depth: 100.918875 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 24.582665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.560547; longitude = -121.201708; captureRadius = 10; duration = 109; initialDepth = 23.581970; finalDepth = 24.582665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.33621 # Actual altitude: 76.33621 # Commanded vehicle depth: 24.582665 # Seafloor depth: -100.918875 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.34; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 305.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.639843 meters # Minimum depth: 98.581970 meters looking forward 50.000000 meters along route # Maximum depth: 99.544321 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 23.581970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.560965; longitude = -121.201385; captureRadius = 10; duration = 103; initialDepth = 22.776866; finalDepth = 23.581970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.33621 # Actual altitude: 76.33621 # Commanded vehicle depth: 23.58197 # Seafloor depth: -99.544321 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.34; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 305.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.217513 meters # Minimum depth: 97.776866 meters looking forward 50.000000 meters along route # Maximum depth: 98.498214 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 22.776866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.561358; longitude = -121.201081; captureRadius = 10; duration = 106; initialDepth = 22.321277; finalDepth = 22.776866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.962351 # Actual altitude: 75.962351 # Commanded vehicle depth: 22.776866 # Seafloor depth: -98.498214 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.85; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 303.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.312198 meters # Minimum depth: 97.321277 meters looking forward 50.000000 meters along route # Maximum depth: 97.756859 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 22.321277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.561764; longitude = -121.200768; captureRadius = 10; duration = 108; initialDepth = 22.104270; finalDepth = 22.321277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.721348 # Actual altitude: 75.721348 # Commanded vehicle depth: 22.321277 # Seafloor depth: -97.756859 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.89; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 302.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.122624 meters # Minimum depth: 97.104270 meters looking forward 50.000000 meters along route # Maximum depth: 97.314997 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 22.104270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.562178; longitude = -121.200448; captureRadius = 10; duration = 104; initialDepth = 21.969512; finalDepth = 22.104270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.435582 # Actual altitude: 75.435582 # Commanded vehicle depth: 22.10427 # Seafloor depth: -97.314997 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.74; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 301.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.217309 meters # Minimum depth: 96.969512 meters looking forward 50.000000 meters along route # Maximum depth: 97.088214 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 21.969512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.562575; longitude = -121.200141; captureRadius = 10; duration = 106; initialDepth = 21.868675; finalDepth = 21.969512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.210727 # Actual altitude: 75.210727 # Commanded vehicle depth: 21.969512 # Seafloor depth: -97.088214 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.84; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 300.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.829013 meters # Minimum depth: 96.868675 meters looking forward 50.000000 meters along route # Maximum depth: 96.965327 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 21.868675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.562981; longitude = -121.199828; captureRadius = 10; duration = 107; initialDepth = 21.729210; finalDepth = 21.868675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.118702 # Actual altitude: 75.118702 # Commanded vehicle depth: 21.868675 # Seafloor depth: -96.965327 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.47; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 300.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.605402 meters # Minimum depth: 96.729210 meters looking forward 50.000000 meters along route # Maximum depth: 96.867356 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 21.729210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.563391; longitude = -121.199511; captureRadius = 10; duration = 105; initialDepth = 21.423384; finalDepth = 21.729210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.138146 # Actual altitude: 75.138146 # Commanded vehicle depth: 21.72921 # Seafloor depth: -96.867356 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.55; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 300.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.385945 meters # Minimum depth: 96.423384 meters looking forward 50.000000 meters along route # Maximum depth: 96.704948 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 21.423384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.563792; longitude = -121.199201; captureRadius = 10; duration = 100; initialDepth = 20.965968; finalDepth = 21.423384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.281564 # Actual altitude: 75.281564 # Commanded vehicle depth: 21.423384 # Seafloor depth: -96.704948 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.13; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 301.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.135197 meters # Minimum depth: 95.965968 meters looking forward 50.000000 meters along route # Maximum depth: 96.399302 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 20.965968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.564176; longitude = -121.198905; captureRadius = 10; duration = 100; initialDepth = 20.319328; finalDepth = 20.965968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.433334 # Actual altitude: 75.433334 # Commanded vehicle depth: 20.965968 # Seafloor depth: -96.399302 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.73; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 301.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.216977 meters # Minimum depth: 95.319328 meters looking forward 50.000000 meters along route # Maximum depth: 95.930606 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 20.319328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.564558; longitude = -121.198610; captureRadius = 10; duration = 106; initialDepth = 19.694221; finalDepth = 20.319328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.611278 # Actual altitude: 75.611278 # Commanded vehicle depth: 20.319328 # Seafloor depth: -95.930606 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.45; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 302.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.815771 meters # Minimum depth: 94.694221 meters looking forward 50.000000 meters along route # Maximum depth: 95.315276 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 19.694221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.564964; longitude = -121.198296; captureRadius = 10; duration = 111; initialDepth = 19.201328; finalDepth = 19.694221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.621055 # Actual altitude: 75.621055 # Commanded vehicle depth: 19.694221 # Seafloor depth: -95.315276 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.48; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 302.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.617979 meters # Minimum depth: 94.201328 meters looking forward 50.000000 meters along route # Maximum depth: 94.665374 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 19.201328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.565390; longitude = -121.197968; captureRadius = 10; duration = 101; initialDepth = 18.790594; finalDepth = 19.201328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.621055 # Actual altitude: 75.621055 # Commanded vehicle depth: 19.201328 # Seafloor depth: -94.665374 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.48; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 302.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.216773 meters # Minimum depth: 93.790594 meters looking forward 50.000000 meters along route # Maximum depth: 94.169585 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 18.790594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.565775; longitude = -121.197670; captureRadius = 10; duration = 106; initialDepth = 18.535410; finalDepth = 18.790594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.464046 # Actual altitude: 75.464046 # Commanded vehicle depth: 18.790594 # Seafloor depth: -94.169585 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.86; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 301.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.332585 meters # Minimum depth: 93.535410 meters looking forward 50.000000 meters along route # Maximum depth: 93.785789 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 18.535410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.566181; longitude = -121.197356; captureRadius = 10; duration = 110; initialDepth = 18.368750; finalDepth = 18.535410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.378991 # Actual altitude: 75.378991 # Commanded vehicle depth: 18.53541 # Seafloor depth: -93.785789 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.52; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 301.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.100758 meters # Minimum depth: 93.368750 meters looking forward 50.000000 meters along route # Maximum depth: 93.527612 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 18.368750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.566603; longitude = -121.197031; captureRadius = 10; duration = 102; initialDepth = 18.113120; finalDepth = 18.368750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.250379 # Actual altitude: 75.250379 # Commanded vehicle depth: 18.36875 # Seafloor depth: -93.527612 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.00; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 301.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.216570 meters # Minimum depth: 93.113120 meters looking forward 50.000000 meters along route # Maximum depth: 93.353398 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 18.113120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.566992; longitude = -121.196730; captureRadius = 10; duration = 106; initialDepth = 17.643316; finalDepth = 18.113120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.240278 # Actual altitude: 75.240278 # Commanded vehicle depth: 18.11312 # Seafloor depth: -93.353398 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.96; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.57; MB_Bottom_Detect_Filter_Max_Range = 300.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.849402 meters # Minimum depth: 92.643316 meters looking forward 50.000000 meters along route # Maximum depth: 93.104930 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 17.643316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.567398; longitude = -121.196416; captureRadius = 10; duration = 109; initialDepth = 17.046824; finalDepth = 17.643316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.461614 # Actual altitude: 75.461614 # Commanded vehicle depth: 17.643316 # Seafloor depth: -93.104930 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.85; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 301.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.583533 meters # Minimum depth: 92.046824 meters looking forward 50.000000 meters along route # Maximum depth: 92.625829 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 17.046824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.567816; longitude = -121.196093; captureRadius = 10; duration = 103; initialDepth = 16.219785; finalDepth = 17.046824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.579005 # Actual altitude: 75.579005 # Commanded vehicle depth: 17.046824 # Seafloor depth: -92.625829 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.32; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 302.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.216366 meters # Minimum depth: 91.219785 meters looking forward 50.000000 meters along route # Maximum depth: 91.981481 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 16.219785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.568209; longitude = -121.195790; captureRadius = 10; duration = 106; initialDepth = 15.500718; finalDepth = 16.219785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.761696 # Actual altitude: 75.761696 # Commanded vehicle depth: 16.219785 # Seafloor depth: -91.981481 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.05; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.73; MB_Bottom_Detect_Filter_Max_Range = 303.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.245325 meters # Minimum depth: 90.500718 meters looking forward 50.000000 meters along route # Maximum depth: 91.192709 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 15.500718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.568615; longitude = -121.195476; captureRadius = 10; duration = 102; initialDepth = 15.443685; finalDepth = 15.500718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75.761696 # Actual altitude: 75.761696 # Commanded vehicle depth: 15.500718 # Seafloor depth: -91.192709 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.05; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.73; MB_Bottom_Detect_Filter_Max_Range = 303.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.05; 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 # Waypoint type: 3 # Commanded altitude: 75.691991 # Sonar parameter altitude: 75.691991 # Commanded vehicle depth: 15.443685 # Seafloor depth: -90.443685 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 400.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 220; MB_Range = 302.77; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 302.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.77; 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 0.000000 meters # Minimum depth: 90.443685 meters looking forward 50.000000 meters along route # Maximum depth: 91.104768 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 319.981839 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 15.443685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.569006; longitude = -121.195175; captureRadius = 10; duration = 600; initialDepth = 15.443685; finalDepth = 15.443685; 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 = 180.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 75.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 180.0; 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 = 400.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################