# 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_3v2.rte # Mission File: 2010_Montebello_3v2.cfg # Distance: 10840.397781 (m) # Estimated Time: 9559 (s) 2.655 (hr) # Abort Time: 12426 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 312 (s) # Way Points: 25 # Route Points: 204 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 50 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan enabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.300000 (m/s) 2.527000 (knots) # Desired Vehicle Altitude: 25 (m) # Minimum Vehicle Altitude: 25 (m) # Abort Vehicle Altitude: 20 (m) # Maximum Vehicle Depth: 264.218946 (m) # Abort Vehicle Depth: 276.718946 (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 -121.202617 35.560487 -102.380859 0.000000 3 # 1 -121.226541 35.531370 -266.300598 3891.011040 3 # 2 -121.224832 35.526818 -274.226888 4419.289714 4 # 3 -121.224446 35.526908 -272.298014 4455.685974 3 # 4 -121.226173 35.531581 -256.757629 4997.206067 4 # 5 -121.226890 35.531400 -260.273275 5065.201947 3 # 6 -121.225218 35.526728 -275.542419 5605.297104 4 # 7 -121.225622 35.526623 -276.595581 5643.770757 3 # 8 -121.227257 35.531280 -261.176188 6181.337338 4 # 9 -121.225842 35.531626 -254.308757 6315.250777 3 # 10 -121.224060 35.526998 -271.471232 6853.466468 4 # 11 -121.223674 35.529883 -262.649048 7175.396954 3 # 12 -121.227974 35.528801 -278.324015 7583.382267 4 # 13 -121.228102 35.529192 -274.261312 7628.261079 3 # 14 -121.223784 35.530198 -257.251994 8035.473774 4 # 15 -121.223564 35.529522 -265.894674 8113.098962 3 # 16 -121.227827 35.528471 -278.126689 8516.925997 4 # 17 -121.227698 35.528080 -276.167806 8561.804835 3 # 18 -121.223362 35.529147 -262.356730 8972.496715 4 # 19 -121.223839 35.530514 -254.081156 9130.240860 3 # 20 -121.228213 35.529507 -273.507528 9542.261822 4 # 21 -121.227643 35.527674 -279.291117 9752.068489 3 # 22 -121.223141 35.528786 -269.038696 10178.564904 4 # 23 -121.223839 35.530875 -258.451294 10418.745858 3 # 24 -121.228323 35.529868 -272.376261 10840.397781 4 # # A total of 204 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.300000 #define MISSION_DISTANCE 10840.397781 #define MISSION_TIME 9559 #define MISSION_TIMEOUT 12426 #define DEPTH_MAX 264.218946 #define DEPTH_ABORT 276.718946 #define ALTITUDE_DESIRED 25.000000 #define ALTITUDE_MIN 25.000000 #define ALTITUDE_ABORT 20.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 0.000000 #define SPIRAL_DESCENT_ALTITUDE 0.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 312; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # 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 = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 60.483117 meters # Minimum depth: 260.694849 meters looking forward 50.000000 meters along route # Maximum depth: 272.559952 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 235.694849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529868; longitude = -121.228323; captureRadius = 10; duration = 139; # abortOnTimeout = True; initialDepth = 238.236163; finalDepth = 235.694849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 36.681412 # Actual altitude: 36.681412 # Commanded vehicle depth: 235.694849 # Seafloor depth: -272.376261 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 146.73; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.67; MB_Bottom_Detect_Filter_Max_Range = 146.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 146.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 51.842602 meters # Minimum depth: 263.236163 meters looking forward 50.000000 meters along route # Maximum depth: 273.417264 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 238.236163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530012; longitude = -121.227680; captureRadius = 10; duration = 119; initialDepth = 236.147333; finalDepth = 238.236163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 36.681412 # Actual altitude: 36.681412 # Commanded vehicle depth: 238.236163 # Seafloor depth: -263.479816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 146.73; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.67; MB_Bottom_Detect_Filter_Max_Range = 146.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 146.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 51.842539 meters # Minimum depth: 261.147333 meters looking forward 50.000000 meters along route # Maximum depth: 262.795359 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 236.147333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530136; longitude = -121.227129; captureRadius = 10; duration = 119; initialDepth = 234.629227; finalDepth = 236.147333; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.648026 # Actual altitude: 26.648026 # Commanded vehicle depth: 236.147333 # Seafloor depth: -262.795359 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 106.59; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.66; MB_Bottom_Detect_Filter_Max_Range = 106.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 51.842475 meters # Minimum depth: 259.629227 meters looking forward 50.000000 meters along route # Maximum depth: 261.130861 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 234.629227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530260; longitude = -121.226577; captureRadius = 10; duration = 119; initialDepth = 232.976588; finalDepth = 234.629227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.648026 # Actual altitude: 26.648026 # Commanded vehicle depth: 234.629227 # Seafloor depth: -261.130861 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 106.59; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.66; MB_Bottom_Detect_Filter_Max_Range = 106.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 51.842412 meters # Minimum depth: 257.976588 meters looking forward 50.000000 meters along route # Maximum depth: 259.439999 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 232.976588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530384; longitude = -121.226026; captureRadius = 10; duration = 119; initialDepth = 231.973401; finalDepth = 232.976588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.501634 # Actual altitude: 26.501634 # Commanded vehicle depth: 232.976588 # Seafloor depth: -259.439999 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 106.01; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.60; MB_Bottom_Detect_Filter_Max_Range = 106.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 51.842347 meters # Minimum depth: 256.973401 meters looking forward 50.000000 meters along route # Maximum depth: 257.934506 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 231.973401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530507; longitude = -121.225475; captureRadius = 10; duration = 119; initialDepth = 229.042694; finalDepth = 231.973401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.463411 # Actual altitude: 26.463411 # Commanded vehicle depth: 231.973401 # Seafloor depth: -257.934506 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 105.85; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.59; MB_Bottom_Detect_Filter_Max_Range = 105.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 105.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 51.842284 meters # Minimum depth: 254.042694 meters looking forward 50.000000 meters along route # Maximum depth: 257.379846 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 229.042694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530631; longitude = -121.224924; captureRadius = 10; duration = 119; initialDepth = 229.047942; finalDepth = 229.042694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.027015 # Actual altitude: 28.027015 # Commanded vehicle depth: 229.042694 # Seafloor depth: -257.069709 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 112.11; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.21; MB_Bottom_Detect_Filter_Max_Range = 112.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 50.114147 meters # Minimum depth: 254.047942 meters looking forward 50.000000 meters along route # Maximum depth: 261.175542 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 229.047942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530755; longitude = -121.224372; captureRadius = 10; duration = 115; initialDepth = 221.275573; finalDepth = 229.047942; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 28.027015 # Actual altitude: 28.027015 # Commanded vehicle depth: 229.047942 # Seafloor depth: -254.047942 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 112.11; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.21; MB_Bottom_Detect_Filter_Max_Range = 112.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 86.395979 meters # Minimum depth: 246.275573 meters looking forward 50.000000 meters along route # Maximum depth: 262.550168 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 221.275573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530875; longitude = -121.223839; captureRadius = 10; duration = 199; # abortOnTimeout = True; initialDepth = 230.434936; finalDepth = 221.275573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 37.175721 # Actual altitude: 37.175721 # Commanded vehicle depth: 221.275573 # Seafloor depth: -258.451294 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 148.70; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.87; MB_Bottom_Detect_Filter_Max_Range = 148.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 52.656102 meters # Minimum depth: 255.434936 meters looking forward 50.000000 meters along route # Maximum depth: 263.731807 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 230.434936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530123; longitude = -121.223588; captureRadius = 10; duration = 121; initialDepth = 236.864957; finalDepth = 230.434936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 37.175721 # Actual altitude: 37.175721 # Commanded vehicle depth: 230.434936 # Seafloor depth: -255.434936 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 148.70; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.87; MB_Bottom_Detect_Filter_Max_Range = 148.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 51.019143 meters # Minimum depth: 261.864957 meters looking forward 50.000000 meters along route # Maximum depth: 265.118614 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 236.864957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529666; longitude = -121.223435; captureRadius = 10; duration = 117; initialDepth = 236.256774; finalDepth = 236.864957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.909619 # Actual altitude: 26.909619 # Commanded vehicle depth: 236.864957 # Seafloor depth: -263.774576 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 107.64; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.76; MB_Bottom_Detect_Filter_Max_Range = 107.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 107.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 50.109730 meters # Minimum depth: 261.256774 meters looking forward 50.000000 meters along route # Maximum depth: 268.464647 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 236.256774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529222; longitude = -121.223287; captureRadius = 10; duration = 115; initialDepth = 239.078540; finalDepth = 236.256774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 26.909619 # Actual altitude: 26.909619 # Commanded vehicle depth: 236.256774 # Seafloor depth: -261.465407 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 107.64; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.76; MB_Bottom_Detect_Filter_Max_Range = 107.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 107.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 59.186977 meters # Minimum depth: 264.078540 meters looking forward 50.000000 meters along route # Maximum depth: 269.038696 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 239.078540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528786; longitude = -121.223141; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 239.800133; finalDepth = 239.078540; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.960156 # Actual altitude: 29.960156 # Commanded vehicle depth: 239.07854 # Seafloor depth: -269.038696 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 119.84; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.98; MB_Bottom_Detect_Filter_Max_Range = 119.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 119.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 52.223879 meters # Minimum depth: 264.800133 meters looking forward 50.000000 meters along route # Maximum depth: 268.713510 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 239.800133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528632; longitude = -121.223766; captureRadius = 10; duration = 120; initialDepth = 238.520105; finalDepth = 239.800133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.960156 # Actual altitude: 29.960156 # Commanded vehicle depth: 239.800133 # Seafloor depth: -264.800133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 119.84; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.98; MB_Bottom_Detect_Filter_Max_Range = 119.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 119.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 52.223948 meters # Minimum depth: 263.520105 meters looking forward 50.000000 meters along route # Maximum depth: 266.623813 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 238.520105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528496; longitude = -121.224317; captureRadius = 10; duration = 120; initialDepth = 239.785323; finalDepth = 238.520105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.103708 # Actual altitude: 28.103708 # Commanded vehicle depth: 238.520105 # Seafloor depth: -266.623813 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 112.41; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.24; MB_Bottom_Detect_Filter_Max_Range = 112.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 52.224019 meters # Minimum depth: 264.785323 meters looking forward 50.000000 meters along route # Maximum depth: 266.248886 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 239.785323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528360; longitude = -121.224868; captureRadius = 10; duration = 120; initialDepth = 241.308802; finalDepth = 239.785323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.103708 # Actual altitude: 28.103708 # Commanded vehicle depth: 239.785323 # Seafloor depth: -264.785323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 112.41; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.24; MB_Bottom_Detect_Filter_Max_Range = 112.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 52.224090 meters # Minimum depth: 266.308802 meters looking forward 50.000000 meters along route # Maximum depth: 268.305714 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 241.308802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528224; longitude = -121.225420; captureRadius = 10; duration = 120; initialDepth = 243.493158; finalDepth = 241.308802; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 241.308802 # Seafloor depth: -266.308802 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 52.224160 meters # Minimum depth: 268.493158 meters looking forward 50.000000 meters along route # Maximum depth: 273.568267 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 243.493158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528087; longitude = -121.225971; captureRadius = 10; duration = 120; initialDepth = 248.714771; finalDepth = 243.493158; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 243.493158 # Seafloor depth: -268.493158 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 52.224230 meters # Minimum depth: 273.714771 meters looking forward 50.000000 meters along route # Maximum depth: 278.663924 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 248.714771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527951; longitude = -121.226522; captureRadius = 10; duration = 120; initialDepth = 249.950964; finalDepth = 248.714771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 248.714771 # Seafloor depth: -273.714771 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 53.965112 meters # Minimum depth: 274.950964 meters looking forward 50.000000 meters along route # Maximum depth: 282.639404 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 249.950964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527815; longitude = -121.227073; captureRadius = 10; duration = 124; initialDepth = 249.377972; finalDepth = 249.950964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 28.155881 # Actual altitude: 28.155881 # Commanded vehicle depth: 249.950964 # Seafloor depth: -278.106845 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 112.62; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.26; MB_Bottom_Detect_Filter_Max_Range = 112.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 54.143683 meters # Minimum depth: 274.377972 meters looking forward 50.000000 meters along route # Maximum depth: 279.676537 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 249.377972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527674; longitude = -121.227643; captureRadius = 10; duration = 124; # abortOnTimeout = True; initialDepth = 249.380985; finalDepth = 249.377972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.913145 # Actual altitude: 29.913145 # Commanded vehicle depth: 249.377972 # Seafloor depth: -279.291117 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 119.65; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.97; MB_Bottom_Detect_Filter_Max_Range = 119.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 119.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 50.759685 meters # Minimum depth: 274.380985 meters looking forward 50.000000 meters along route # Maximum depth: 283.507876 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 249.380985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528147; longitude = -121.227790; captureRadius = 10; duration = 117; initialDepth = 246.457821; finalDepth = 249.380985; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.913145 # Actual altitude: 29.913145 # Commanded vehicle depth: 249.380985 # Seafloor depth: -274.380985 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 119.65; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.97; MB_Bottom_Detect_Filter_Max_Range = 119.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 119.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 51.591795 meters # Minimum depth: 271.457821 meters looking forward 50.000000 meters along route # Maximum depth: 282.363708 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 246.457821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528591; longitude = -121.227928; captureRadius = 10; duration = 119; initialDepth = 244.938897; finalDepth = 246.457821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 35.905887 # Actual altitude: 35.905887 # Commanded vehicle depth: 246.457821 # Seafloor depth: -282.363708 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 143.62; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.36; MB_Bottom_Detect_Filter_Max_Range = 143.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 143.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 53.311504 meters # Minimum depth: 269.938897 meters looking forward 50.000000 meters along route # Maximum depth: 275.439506 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 244.938897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529042; longitude = -121.228068; captureRadius = 10; duration = 123; initialDepth = 246.967246; finalDepth = 244.938897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 35.905887 # Actual altitude: 35.905887 # Commanded vehicle depth: 244.938897 # Seafloor depth: -271.141771 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 143.62; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.36; MB_Bottom_Detect_Filter_Max_Range = 143.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 143.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 50.204455 meters # Minimum depth: 271.967246 meters looking forward 50.000000 meters along route # Maximum depth: 274.816291 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 246.967246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529507; longitude = -121.228213; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 239.875302; finalDepth = 246.967246; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.540282 # Actual altitude: 26.540282 # Commanded vehicle depth: 246.967246 # Seafloor depth: -273.507528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 106.16; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.62; MB_Bottom_Detect_Filter_Max_Range = 106.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.935579 meters # Minimum depth: 264.875302 meters looking forward 50.000000 meters along route # Maximum depth: 275.006228 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 239.875302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529630; longitude = -121.227680; captureRadius = 10; duration = 119; initialDepth = 237.766959; finalDepth = 239.875302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.411962 # Actual altitude: 32.411962 # Commanded vehicle depth: 239.875302 # Seafloor depth: -272.287264 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 129.65; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.96; MB_Bottom_Detect_Filter_Max_Range = 129.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 129.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 51.935514 meters # Minimum depth: 262.766959 meters looking forward 50.000000 meters along route # Maximum depth: 264.327303 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 237.766959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529757; longitude = -121.227129; captureRadius = 10; duration = 119; initialDepth = 236.421535; finalDepth = 237.766959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.411962 # Actual altitude: 32.411962 # Commanded vehicle depth: 237.766959 # Seafloor depth: -264.327303 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 129.65; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.96; MB_Bottom_Detect_Filter_Max_Range = 129.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 129.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 51.935448 meters # Minimum depth: 261.421535 meters looking forward 50.000000 meters along route # Maximum depth: 262.608118 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 236.421535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529884; longitude = -121.226577; captureRadius = 10; duration = 119; initialDepth = 234.553970; finalDepth = 236.421535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.560344 # Actual altitude: 26.560344 # Commanded vehicle depth: 236.421535 # Seafloor depth: -262.608118 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 106.24; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.62; MB_Bottom_Detect_Filter_Max_Range = 106.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 51.935383 meters # Minimum depth: 259.553970 meters looking forward 50.000000 meters along route # Maximum depth: 263.517088 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 234.553970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530011; longitude = -121.226026; captureRadius = 10; duration = 119; initialDepth = 232.877641; finalDepth = 234.553970; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.566101 # Actual altitude: 28.566101 # Commanded vehicle depth: 234.55397 # Seafloor depth: -263.120071 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 114.26; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.43; MB_Bottom_Detect_Filter_Max_Range = 114.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 114.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 51.935317 meters # Minimum depth: 257.877641 meters looking forward 50.000000 meters along route # Maximum depth: 259.393153 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 232.877641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530138; longitude = -121.225475; captureRadius = 10; duration = 119; initialDepth = 231.503509; finalDepth = 232.877641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.566101 # Actual altitude: 28.566101 # Commanded vehicle depth: 232.877641 # Seafloor depth: -259.393153 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 114.26; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.43; MB_Bottom_Detect_Filter_Max_Range = 114.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 114.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 51.935252 meters # Minimum depth: 256.503509 meters looking forward 50.000000 meters along route # Maximum depth: 257.803716 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 231.503509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530264; longitude = -121.224924; captureRadius = 10; duration = 119; initialDepth = 226.934836; finalDepth = 231.503509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.515512 # Actual altitude: 26.515512 # Commanded vehicle depth: 231.503509 # Seafloor depth: -257.803716 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 106.06; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.61; MB_Bottom_Detect_Filter_Max_Range = 106.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 50.204014 meters # Minimum depth: 251.934836 meters looking forward 50.000000 meters along route # Maximum depth: 262.523514 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 226.934836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530391; longitude = -121.224372; captureRadius = 10; duration = 115; initialDepth = 225.300592; finalDepth = 226.934836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 29.906995 # Actual altitude: 29.906995 # Commanded vehicle depth: 226.934836 # Seafloor depth: -256.841831 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 119.63; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.96; MB_Bottom_Detect_Filter_Max_Range = 119.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 119.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 55.470446 meters # Minimum depth: 250.300592 meters looking forward 50.000000 meters along route # Maximum depth: 258.075588 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 225.300592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530514; longitude = -121.223839; captureRadius = 10; duration = 128; # abortOnTimeout = True; initialDepth = 235.317396; finalDepth = 225.300592; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.906995 # Actual altitude: 29.906995 # Commanded vehicle depth: 225.300592 # Seafloor depth: -254.081156 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 119.63; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.96; MB_Bottom_Detect_Filter_Max_Range = 119.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 119.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 52.003565 meters # Minimum depth: 260.317396 meters looking forward 50.000000 meters along route # Maximum depth: 264.797895 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 235.317396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530033; longitude = -121.223671; captureRadius = 10; duration = 120; initialDepth = 237.326137; finalDepth = 235.317396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.780564 # Actual altitude: 28.780564 # Commanded vehicle depth: 235.317396 # Seafloor depth: -260.317396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 115.12; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.51; MB_Bottom_Detect_Filter_Max_Range = 115.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 115.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 50.270134 meters # Minimum depth: 262.326137 meters looking forward 50.000000 meters along route # Maximum depth: 267.934845 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 237.326137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529582; longitude = -121.223514; captureRadius = 10; duration = 116; initialDepth = 237.328514; finalDepth = 237.326137; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 28.459259 # Actual altitude: 28.459259 # Commanded vehicle depth: 237.326137 # Seafloor depth: -265.785396 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 113.84; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.38; MB_Bottom_Detect_Filter_Max_Range = 113.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 113.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 43.505290 meters # Minimum depth: 262.328514 meters looking forward 50.000000 meters along route # Maximum depth: 265.079605 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 237.328514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529147; longitude = -121.223362; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 237.219412; finalDepth = 237.328514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.459259 # Actual altitude: 28.459259 # Commanded vehicle depth: 237.328514 # Seafloor depth: -262.356730 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 113.84; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.38; MB_Bottom_Detect_Filter_Max_Range = 113.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 113.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 52.206412 meters # Minimum depth: 262.219412 meters looking forward 50.000000 meters along route # Maximum depth: 266.285394 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 237.219412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529034; longitude = -121.223821; captureRadius = 10; duration = 120; initialDepth = 237.259258; finalDepth = 237.219412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.014425 # Actual altitude: 27.014425 # Commanded vehicle depth: 237.219412 # Seafloor depth: -264.233837 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 108.06; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.81; MB_Bottom_Detect_Filter_Max_Range = 108.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 52.206483 meters # Minimum depth: 262.259258 meters looking forward 50.000000 meters along route # Maximum depth: 263.387611 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 237.259258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528898; longitude = -121.224372; captureRadius = 10; duration = 120; initialDepth = 238.490168; finalDepth = 237.259258; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.014425 # Actual altitude: 27.014425 # Commanded vehicle depth: 237.259258 # Seafloor depth: -262.259258 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 108.06; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.81; MB_Bottom_Detect_Filter_Max_Range = 108.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 52.206553 meters # Minimum depth: 263.490168 meters looking forward 50.000000 meters along route # Maximum depth: 265.275671 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 238.490168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528763; longitude = -121.224924; captureRadius = 10; duration = 120; initialDepth = 240.376783; finalDepth = 238.490168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 238.490168 # Seafloor depth: -263.490168 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 52.206623 meters # Minimum depth: 265.376783 meters looking forward 50.000000 meters along route # Maximum depth: 266.833750 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 240.376783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528627; longitude = -121.225475; captureRadius = 10; duration = 120; initialDepth = 241.959012; finalDepth = 240.376783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 240.376783 # Seafloor depth: -265.376783 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 52.206693 meters # Minimum depth: 266.959012 meters looking forward 50.000000 meters along route # Maximum depth: 268.549633 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 241.959012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528491; longitude = -121.226026; captureRadius = 10; duration = 120; initialDepth = 243.658419; finalDepth = 241.959012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 241.959012 # Seafloor depth: -266.959012 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 52.206764 meters # Minimum depth: 268.658419 meters looking forward 50.000000 meters along route # Maximum depth: 269.578625 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 243.658419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528356; longitude = -121.226577; captureRadius = 10; duration = 120; initialDepth = 244.809365; finalDepth = 243.658419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 243.658419 # Seafloor depth: -268.658419 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 53.947062 meters # Minimum depth: 269.809365 meters looking forward 50.000000 meters along route # Maximum depth: 277.939836 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 244.809365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528220; longitude = -121.227129; captureRadius = 10; duration = 124; initialDepth = 248.501136; finalDepth = 244.809365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 244.809365 # Seafloor depth: -269.809365 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 44.878838 meters # Minimum depth: 273.501136 meters looking forward 50.000000 meters along route # Maximum depth: 277.422186 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 248.501136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528080; longitude = -121.227698; captureRadius = 10; duration = 103; # abortOnTimeout = True; initialDepth = 251.718946; finalDepth = 248.501136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 27.66667 # Actual altitude: 27.66667 # Commanded vehicle depth: 248.501136 # Seafloor depth: -276.167806 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 110.67; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.07; MB_Bottom_Detect_Filter_Max_Range = 110.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 40.034765 meters # Minimum depth: 276.718946 meters looking forward 50.000000 meters along route # Maximum depth: 278.682967 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 251.718946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528471; longitude = -121.227827; captureRadius = 10; duration = 92; # abortOnTimeout = True; initialDepth = 242.975313; finalDepth = 251.718946; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.66667 # Actual altitude: 27.66667 # Commanded vehicle depth: 251.718946 # Seafloor depth: -278.126689 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 110.67; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.07; MB_Bottom_Detect_Filter_Max_Range = 110.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 52.219196 meters # Minimum depth: 267.975313 meters looking forward 50.000000 meters along route # Maximum depth: 277.921562 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 242.975313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528575; longitude = -121.227404; captureRadius = 10; duration = 120; initialDepth = 241.558505; finalDepth = 242.975313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.646191 # Actual altitude: 33.646191 # Commanded vehicle depth: 242.975313 # Seafloor depth: -276.621504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 134.58; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.46; MB_Bottom_Detect_Filter_Max_Range = 134.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 134.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 52.219126 meters # Minimum depth: 266.558505 meters looking forward 50.000000 meters along route # Maximum depth: 267.889191 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 241.558505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528711; longitude = -121.226853; captureRadius = 10; duration = 120; initialDepth = 233.060234; finalDepth = 241.558505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.646191 # Actual altitude: 33.646191 # Commanded vehicle depth: 241.558505 # Seafloor depth: -267.889191 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 134.58; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.46; MB_Bottom_Detect_Filter_Max_Range = 134.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 134.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 52.219055 meters # Minimum depth: 258.060234 meters looking forward 50.000000 meters along route # Maximum depth: 266.697611 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 233.060234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528847; longitude = -121.226302; captureRadius = 10; duration = 120; initialDepth = 222.909047; finalDepth = 233.060234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.378907 # Actual altitude: 33.378907 # Commanded vehicle depth: 233.060234 # Seafloor depth: -266.439141 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 133.52; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.35; MB_Bottom_Detect_Filter_Max_Range = 133.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 133.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 52.218985 meters # Minimum depth: 247.909047 meters looking forward 50.000000 meters along route # Maximum depth: 264.736106 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 222.909047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528983; longitude = -121.225750; captureRadius = 10; duration = 120; initialDepth = 236.230673; finalDepth = 222.909047; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.378907 # Actual altitude: 33.378907 # Commanded vehicle depth: 222.909047 # Seafloor depth: -252.163535 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 133.52; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.35; MB_Bottom_Detect_Filter_Max_Range = 133.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 133.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 52.218914 meters # Minimum depth: 261.230673 meters looking forward 50.000000 meters along route # Maximum depth: 263.000579 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 236.230673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529119; longitude = -121.225199; captureRadius = 10; duration = 120; initialDepth = 235.715310; finalDepth = 236.230673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.254488 # Actual altitude: 29.254488 # Commanded vehicle depth: 236.230673 # Seafloor depth: -263.000579 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 117.02; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.70; MB_Bottom_Detect_Filter_Max_Range = 117.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 117.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 52.218845 meters # Minimum depth: 260.715310 meters looking forward 50.000000 meters along route # Maximum depth: 264.973644 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 235.715310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529255; longitude = -121.224648; captureRadius = 10; duration = 120; initialDepth = 239.824441; finalDepth = 235.715310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.769906 # Actual altitude: 26.769906 # Commanded vehicle depth: 235.71531 # Seafloor depth: -261.029871 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 107.08; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.71; MB_Bottom_Detect_Filter_Max_Range = 107.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 107.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 50.478149 meters # Minimum depth: 264.824441 meters looking forward 50.000000 meters along route # Maximum depth: 266.230019 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 239.824441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529391; longitude = -121.224097; captureRadius = 10; duration = 116; initialDepth = 231.915520; finalDepth = 239.824441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 25.582488 # Actual altitude: 25.582488 # Commanded vehicle depth: 239.824441 # Seafloor depth: -265.406929 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 102.33; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 102.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 102.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 77.625188 meters # Minimum depth: 256.915520 meters looking forward 50.000000 meters along route # Maximum depth: 265.894674 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 231.915520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529522; longitude = -121.223564; captureRadius = 10; duration = 179; # abortOnTimeout = True; initialDepth = 231.934360; finalDepth = 231.915520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 33.979154 # Actual altitude: 33.979154 # Commanded vehicle depth: 231.91552 # Seafloor depth: -265.894674 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 135.92; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.59; MB_Bottom_Detect_Filter_Max_Range = 135.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 135.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 45.053119 meters # Minimum depth: 256.934360 meters looking forward 50.000000 meters along route # Maximum depth: 263.358281 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 231.934360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530198; longitude = -121.223784; captureRadius = 10; duration = 103; # abortOnTimeout = True; initialDepth = 232.817830; finalDepth = 231.934360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.979154 # Actual altitude: 33.979154 # Commanded vehicle depth: 231.93436 # Seafloor depth: -257.251994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 135.92; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.59; MB_Bottom_Detect_Filter_Max_Range = 135.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 135.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.984431 meters # Minimum depth: 257.817830 meters looking forward 50.000000 meters along route # Maximum depth: 260.220052 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 232.817830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530087; longitude = -121.224262; captureRadius = 10; duration = 119; initialDepth = 233.749143; finalDepth = 232.817830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.402222 # Actual altitude: 27.402222 # Commanded vehicle depth: 232.81783 # Seafloor depth: -260.220052 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 109.61; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.96; MB_Bottom_Detect_Filter_Max_Range = 109.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 109.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 51.984496 meters # Minimum depth: 258.749143 meters looking forward 50.000000 meters along route # Maximum depth: 260.230509 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 233.749143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529959; longitude = -121.224813; captureRadius = 10; duration = 119; initialDepth = 222.011140; finalDepth = 233.749143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.402222 # Actual altitude: 27.402222 # Commanded vehicle depth: 233.749143 # Seafloor depth: -258.749143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 109.61; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.96; MB_Bottom_Detect_Filter_Max_Range = 109.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 109.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 51.984563 meters # Minimum depth: 247.011140 meters looking forward 50.000000 meters along route # Maximum depth: 262.377691 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 222.011140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529830; longitude = -121.225365; captureRadius = 10; duration = 119; initialDepth = 220.102002; finalDepth = 222.011140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 38.390105 # Actual altitude: 38.390105 # Commanded vehicle depth: 222.01114 # Seafloor depth: -260.401245 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 153.56; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.36; MB_Bottom_Detect_Filter_Max_Range = 153.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 51.984629 meters # Minimum depth: 245.102002 meters looking forward 50.000000 meters along route # Maximum depth: 264.220264 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 220.102002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529702; longitude = -121.225916; captureRadius = 10; duration = 119; initialDepth = 238.613733; finalDepth = 220.102002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 38.390105 # Actual altitude: 38.390105 # Commanded vehicle depth: 220.102002 # Seafloor depth: -245.102002 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 153.56; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.36; MB_Bottom_Detect_Filter_Max_Range = 153.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 51.984696 meters # Minimum depth: 263.613733 meters looking forward 50.000000 meters along route # Maximum depth: 265.042881 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 238.613733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529573; longitude = -121.226467; captureRadius = 10; duration = 119; initialDepth = 240.058332; finalDepth = 238.613733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 238.613733 # Seafloor depth: -263.613733 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 51.984762 meters # Minimum depth: 265.058332 meters looking forward 50.000000 meters along route # Maximum depth: 273.844527 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 240.058332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529445; longitude = -121.227018; captureRadius = 10; duration = 119; initialDepth = 244.931388; finalDepth = 240.058332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 240.058332 # Seafloor depth: -265.058332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 50.251999 meters # Minimum depth: 269.931388 meters looking forward 50.000000 meters along route # Maximum depth: 274.463783 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 244.931388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529316; longitude = -121.227570; captureRadius = 10; duration = 115; initialDepth = 245.682678; finalDepth = 244.931388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 28.244676 # Actual altitude: 28.244676 # Commanded vehicle depth: 244.931388 # Seafloor depth: -273.176064 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 112.98; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.30; MB_Bottom_Detect_Filter_Max_Range = 112.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 44.878812 meters # Minimum depth: 270.682678 meters looking forward 50.000000 meters along route # Maximum depth: 278.112305 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 245.682678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529192; longitude = -121.228102; captureRadius = 10; duration = 103; # abortOnTimeout = True; initialDepth = 246.478638; finalDepth = 245.682678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 28.578634 # Actual altitude: 28.578634 # Commanded vehicle depth: 245.682678 # Seafloor depth: -274.261312 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 114.31; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.43; MB_Bottom_Detect_Filter_Max_Range = 114.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 114.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 43.588383 meters # Minimum depth: 271.478638 meters looking forward 50.000000 meters along route # Maximum depth: 278.324015 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 246.478638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528801; longitude = -121.227974; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 241.594513; finalDepth = 246.478638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.845377 # Actual altitude: 31.845377 # Commanded vehicle depth: 246.478638 # Seafloor depth: -278.324015 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 127.38; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.74; MB_Bottom_Detect_Filter_Max_Range = 127.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 127.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 52.305993 meters # Minimum depth: 266.594513 meters looking forward 50.000000 meters along route # Maximum depth: 275.090494 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 241.594513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528917; longitude = -121.227514; captureRadius = 10; duration = 120; initialDepth = 240.294560; finalDepth = 241.594513; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.845377 # Actual altitude: 31.845377 # Commanded vehicle depth: 241.594513 # Seafloor depth: -270.077895 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 127.38; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.74; MB_Bottom_Detect_Filter_Max_Range = 127.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 127.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 52.305922 meters # Minimum depth: 265.294560 meters looking forward 50.000000 meters along route # Maximum depth: 266.539955 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 240.294560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529056; longitude = -121.226963; captureRadius = 10; duration = 120; initialDepth = 230.945392; finalDepth = 240.294560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.483382 # Actual altitude: 28.483382 # Commanded vehicle depth: 240.29456 # Seafloor depth: -266.539955 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 113.93; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.39; MB_Bottom_Detect_Filter_Max_Range = 113.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 113.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 52.305850 meters # Minimum depth: 255.945392 meters looking forward 50.000000 meters along route # Maximum depth: 265.706940 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 230.945392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529194; longitude = -121.226412; captureRadius = 10; duration = 120; initialDepth = 224.253912; finalDepth = 230.945392; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.212379 # Actual altitude: 34.212379 # Commanded vehicle depth: 230.945392 # Seafloor depth: -265.157771 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 136.85; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.68; MB_Bottom_Detect_Filter_Max_Range = 136.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 136.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 52.305779 meters # Minimum depth: 249.253912 meters looking forward 50.000000 meters along route # Maximum depth: 263.490565 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 224.253912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529333; longitude = -121.225861; captureRadius = 10; duration = 120; initialDepth = 235.188732; finalDepth = 224.253912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.212379 # Actual altitude: 34.212379 # Commanded vehicle depth: 224.253912 # Seafloor depth: -251.566542 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 136.85; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.68; MB_Bottom_Detect_Filter_Max_Range = 136.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 136.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 52.305706 meters # Minimum depth: 260.188732 meters looking forward 50.000000 meters along route # Maximum depth: 261.839222 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 235.188732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529472; longitude = -121.225309; captureRadius = 10; duration = 120; initialDepth = 234.279841; finalDepth = 235.188732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.31263 # Actual altitude: 27.31263 # Commanded vehicle depth: 235.188732 # Seafloor depth: -261.839222 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 109.25; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.93; MB_Bottom_Detect_Filter_Max_Range = 109.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 109.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 52.305635 meters # Minimum depth: 259.279841 meters looking forward 50.000000 meters along route # Maximum depth: 260.843187 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 234.279841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529610; longitude = -121.224758; captureRadius = 10; duration = 120; initialDepth = 236.281090; finalDepth = 234.279841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.65049 # Actual altitude: 26.65049 # Commanded vehicle depth: 234.279841 # Seafloor depth: -260.001460 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 106.60; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.66; MB_Bottom_Detect_Filter_Max_Range = 106.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 50.562045 meters # Minimum depth: 261.281090 meters looking forward 50.000000 meters along route # Maximum depth: 265.654757 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 236.281090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529749; longitude = -121.224207; captureRadius = 10; duration = 116; initialDepth = 237.275703; finalDepth = 236.281090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 25.721619 # Actual altitude: 25.721619 # Commanded vehicle depth: 236.28109 # Seafloor depth: -261.281090 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 102.89; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.29; MB_Bottom_Detect_Filter_Max_Range = 102.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 102.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 68.745577 meters # Minimum depth: 262.275703 meters looking forward 50.000000 meters along route # Maximum depth: 266.419838 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 237.275703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529883; longitude = -121.223674; captureRadius = 10; duration = 158; # abortOnTimeout = True; initialDepth = 238.972725; finalDepth = 237.275703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.373345 # Actual altitude: 25.373345 # Commanded vehicle depth: 237.275703 # Seafloor depth: -262.649048 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 101.49; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.15; MB_Bottom_Detect_Filter_Max_Range = 101.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 101.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.301640 meters # Minimum depth: 263.972725 meters looking forward 50.000000 meters along route # Maximum depth: 266.372981 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 238.972725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529267; longitude = -121.223756; captureRadius = 10; duration = 116; initialDepth = 239.792648; finalDepth = 238.972725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.400256 # Actual altitude: 27.400256 # Commanded vehicle depth: 238.972725 # Seafloor depth: -266.372981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 109.60; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.96; MB_Bottom_Detect_Filter_Max_Range = 109.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 109.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 50.301639 meters # Minimum depth: 264.792648 meters looking forward 50.000000 meters along route # Maximum depth: 268.458878 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 239.792648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528816; longitude = -121.223817; captureRadius = 10; duration = 116; initialDepth = 238.362785; finalDepth = 239.792648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.400256 # Actual altitude: 27.400256 # Commanded vehicle depth: 239.792648 # Seafloor depth: -265.130684 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 109.60; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.96; MB_Bottom_Detect_Filter_Max_Range = 109.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 109.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 50.301638 meters # Minimum depth: 263.362785 meters looking forward 50.000000 meters along route # Maximum depth: 268.738007 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 238.362785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528366; longitude = -121.223877; captureRadius = 10; duration = 116; initialDepth = 242.944509; finalDepth = 238.362785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.571389 # Actual altitude: 27.571389 # Commanded vehicle depth: 238.362785 # Seafloor depth: -265.934174 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 110.29; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.03; MB_Bottom_Detect_Filter_Max_Range = 110.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 50.301636 meters # Minimum depth: 267.944509 meters looking forward 50.000000 meters along route # Maximum depth: 271.723171 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 242.944509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527915; longitude = -121.223937; captureRadius = 10; duration = 116; initialDepth = 246.042618; finalDepth = 242.944509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.571389 # Actual altitude: 27.571389 # Commanded vehicle depth: 242.944509 # Seafloor depth: -269.924032 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 110.29; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.03; MB_Bottom_Detect_Filter_Max_Range = 110.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 51.978356 meters # Minimum depth: 271.042618 meters looking forward 50.000000 meters along route # Maximum depth: 273.335440 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 246.042618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527464; longitude = -121.223998; captureRadius = 10; duration = 119; initialDepth = 245.904572; finalDepth = 246.042618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 26.979523 # Actual altitude: 26.979523 # Commanded vehicle depth: 246.042618 # Seafloor depth: -272.870556 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 107.92; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.79; MB_Bottom_Detect_Filter_Max_Range = 107.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 107.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 64.655928 meters # Minimum depth: 270.904572 meters looking forward 50.000000 meters along route # Maximum depth: 274.068627 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 245.904572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526998; longitude = -121.224060; captureRadius = 10; duration = 149; # abortOnTimeout = True; initialDepth = 244.363897; finalDepth = 245.904572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.827938 # Actual altitude: 26.827938 # Commanded vehicle depth: 245.904572 # Seafloor depth: -271.471232 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 107.31; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.73; MB_Bottom_Detect_Filter_Max_Range = 107.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 107.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 52.423696 meters # Minimum depth: 269.363897 meters looking forward 50.000000 meters along route # Maximum depth: 275.041973 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 244.363897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527554; longitude = -121.224274; captureRadius = 10; duration = 120; initialDepth = 238.580520; finalDepth = 244.363897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.2157 # Actual altitude: 29.2157 # Commanded vehicle depth: 244.363897 # Seafloor depth: -273.579597 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 116.86; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.69; MB_Bottom_Detect_Filter_Max_Range = 116.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 116.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 52.423669 meters # Minimum depth: 263.580520 meters looking forward 50.000000 meters along route # Maximum depth: 271.000396 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 238.580520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528005; longitude = -121.224448; captureRadius = 10; duration = 120; initialDepth = 237.830326; finalDepth = 238.580520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.419876 # Actual altitude: 32.419876 # Commanded vehicle depth: 238.58052 # Seafloor depth: -271.000396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 129.68; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.97; MB_Bottom_Detect_Filter_Max_Range = 129.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 129.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 52.423643 meters # Minimum depth: 262.830326 meters looking forward 50.000000 meters along route # Maximum depth: 263.534057 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 237.830326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528456; longitude = -121.224621; captureRadius = 10; duration = 120; initialDepth = 236.602234; finalDepth = 237.830326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.419876 # Actual altitude: 32.419876 # Commanded vehicle depth: 237.830326 # Seafloor depth: -263.534057 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 129.68; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.97; MB_Bottom_Detect_Filter_Max_Range = 129.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 129.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 52.423617 meters # Minimum depth: 261.602234 meters looking forward 50.000000 meters along route # Maximum depth: 262.716336 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 236.602234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528906; longitude = -121.224795; captureRadius = 10; duration = 120; initialDepth = 235.020065; finalDepth = 236.602234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.114102 # Actual altitude: 26.114102 # Commanded vehicle depth: 236.602234 # Seafloor depth: -262.716336 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 104.46; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.45; MB_Bottom_Detect_Filter_Max_Range = 104.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 104.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 53.018085 meters # Minimum depth: 260.020065 meters looking forward 50.000000 meters along route # Maximum depth: 261.476236 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 235.020065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529357; longitude = -121.224968; captureRadius = 10; duration = 122; initialDepth = 233.656017; finalDepth = 235.020065; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.456171 # Actual altitude: 26.456171 # Commanded vehicle depth: 235.020065 # Seafloor depth: -261.476236 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 105.82; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.58; MB_Bottom_Detect_Filter_Max_Range = 105.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 105.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 51.829070 meters # Minimum depth: 258.656017 meters looking forward 50.000000 meters along route # Maximum depth: 260.003168 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 233.656017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529813; longitude = -121.225144; captureRadius = 10; duration = 119; initialDepth = 232.747091; finalDepth = 233.656017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.456171 # Actual altitude: 26.456171 # Commanded vehicle depth: 233.656017 # Seafloor depth: -260.003168 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 105.82; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.58; MB_Bottom_Detect_Filter_Max_Range = 105.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 105.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 52.423537 meters # Minimum depth: 257.747091 meters looking forward 50.000000 meters along route # Maximum depth: 261.054609 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 232.747091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530259; longitude = -121.225316; captureRadius = 10; duration = 120; initialDepth = 234.100629; finalDepth = 232.747091; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.347151 # Actual altitude: 26.347151 # Commanded vehicle depth: 232.747091 # Seafloor depth: -258.603389 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 105.39; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.54; MB_Bottom_Detect_Filter_Max_Range = 105.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 105.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 52.423512 meters # Minimum depth: 259.100629 meters looking forward 50.000000 meters along route # Maximum depth: 265.598234 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 234.100629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530709; longitude = -121.225489; captureRadius = 10; duration = 120; initialDepth = 227.141801; finalDepth = 234.100629; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.9887409999999 # Actual altitude: 28.9887409999999 # Commanded vehicle depth: 234.100629 # Seafloor depth: -263.089370 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 115.95; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.60; MB_Bottom_Detect_Filter_Max_Range = 115.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 115.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 54.170934 meters # Minimum depth: 252.141801 meters looking forward 50.000000 meters along route # Maximum depth: 265.047523 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 227.141801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531160; longitude = -121.225663; captureRadius = 10; duration = 125; initialDepth = 229.308757; finalDepth = 227.141801; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 37.905722 # Actual altitude: 37.905722 # Commanded vehicle depth: 227.141801 # Seafloor depth: -265.047523 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 151.62; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.16; MB_Bottom_Detect_Filter_Max_Range = 151.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 80.000181 meters # Minimum depth: 254.308757 meters looking forward 50.000000 meters along route # Maximum depth: 265.547485 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 229.308757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531626; longitude = -121.225842; captureRadius = 10; duration = 184; # abortOnTimeout = True; initialDepth = 235.059576; finalDepth = 229.308757; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 37.905722 # Actual altitude: 37.905722 # Commanded vehicle depth: 229.308757 # Seafloor depth: -254.308757 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 151.62; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.16; MB_Bottom_Detect_Filter_Max_Range = 151.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.913258 meters # Minimum depth: 260.059576 meters looking forward 50.000000 meters along route # Maximum depth: 265.431609 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 235.059576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531419; longitude = -121.226688; captureRadius = 10; duration = 124; initialDepth = 236.176188; finalDepth = 235.059576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 30.372033 # Actual altitude: 30.372033 # Commanded vehicle depth: 235.059576 # Seafloor depth: -265.431609 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 121.49; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.15; MB_Bottom_Detect_Filter_Max_Range = 121.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 121.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 71.097382 meters # Minimum depth: 261.176188 meters looking forward 50.000000 meters along route # Maximum depth: 264.999884 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 236.176188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531280; longitude = -121.227257; captureRadius = 10; duration = 164; # abortOnTimeout = True; initialDepth = 235.411562; finalDepth = 236.176188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.372033 # Actual altitude: 30.372033 # Commanded vehicle depth: 236.176188 # Seafloor depth: -261.176188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 121.49; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.15; MB_Bottom_Detect_Filter_Max_Range = 121.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 121.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 52.022501 meters # Minimum depth: 260.411562 meters looking forward 50.000000 meters along route # Maximum depth: 262.025213 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 235.411562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530664; longitude = -121.227041; captureRadius = 10; duration = 120; initialDepth = 236.874177; finalDepth = 235.411562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.613651 # Actual altitude: 26.613651 # Commanded vehicle depth: 235.411562 # Seafloor depth: -262.025213 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 106.45; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.65; MB_Bottom_Detect_Filter_Max_Range = 106.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 52.022523 meters # Minimum depth: 261.874177 meters looking forward 50.000000 meters along route # Maximum depth: 263.239372 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 236.874177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530214; longitude = -121.226883; captureRadius = 10; duration = 120; initialDepth = 238.391737; finalDepth = 236.874177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.613651 # Actual altitude: 26.613651 # Commanded vehicle depth: 236.874177 # Seafloor depth: -261.874177 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 106.45; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.65; MB_Bottom_Detect_Filter_Max_Range = 106.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 52.022544 meters # Minimum depth: 263.391737 meters looking forward 50.000000 meters along route # Maximum depth: 264.806514 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 238.391737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529763; longitude = -121.226724; captureRadius = 10; duration = 120; initialDepth = 239.913502; finalDepth = 238.391737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 238.391737 # Seafloor depth: -263.391737 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 52.022566 meters # Minimum depth: 264.913502 meters looking forward 50.000000 meters along route # Maximum depth: 266.484650 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 239.913502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529312; longitude = -121.226566; captureRadius = 10; duration = 120; initialDepth = 241.523436; finalDepth = 239.913502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 239.913502 # Seafloor depth: -264.913502 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 53.016277 meters # Minimum depth: 266.523436 meters looking forward 50.000000 meters along route # Maximum depth: 267.751495 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 241.523436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528861; longitude = -121.226408; captureRadius = 10; duration = 122; initialDepth = 242.773254; finalDepth = 241.523436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 241.523436 # Seafloor depth: -266.523436 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 51.028919 meters # Minimum depth: 267.773254 meters looking forward 50.000000 meters along route # Maximum depth: 270.965492 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 242.773254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528402; longitude = -121.226247; captureRadius = 10; duration = 117; initialDepth = 246.898571; finalDepth = 242.773254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 242.773254 # Seafloor depth: -267.773254 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 52.022631 meters # Minimum depth: 271.898571 meters looking forward 50.000000 meters along route # Maximum depth: 278.341555 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 246.898571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527960; longitude = -121.226091; captureRadius = 10; duration = 120; initialDepth = 251.129468; finalDepth = 246.898571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 246.898571 # Seafloor depth: -271.898571 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 52.022653 meters # Minimum depth: 276.129468 meters looking forward 50.000000 meters along route # Maximum depth: 278.331607 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 251.129468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527509; longitude = -121.225933; captureRadius = 10; duration = 120; initialDepth = 249.783474; finalDepth = 251.129468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 251.129468 # Seafloor depth: -276.129468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.288585 meters # Minimum depth: 274.783474 meters looking forward 50.000000 meters along route # Maximum depth: 279.414973 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 249.783474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527058; longitude = -121.225775; captureRadius = 10; duration = 116; initialDepth = 249.409486; finalDepth = 249.783474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 28.436625 # Actual altitude: 28.436625 # Commanded vehicle depth: 249.783474 # Seafloor depth: -278.220099 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 113.75; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.37; MB_Bottom_Detect_Filter_Max_Range = 113.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 113.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 38.473653 meters # Minimum depth: 274.409486 meters looking forward 50.000000 meters along route # Maximum depth: 276.754107 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 249.409486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526623; longitude = -121.225622; captureRadius = 10; duration = 88; # abortOnTimeout = True; initialDepth = 249.809847; finalDepth = 249.409486; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 28.436625 # Actual altitude: 28.436625 # Commanded vehicle depth: 249.409486 # Seafloor depth: -276.595581 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 113.75; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.37; MB_Bottom_Detect_Filter_Max_Range = 113.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 113.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 69.465751 meters # Minimum depth: 274.809847 meters looking forward 50.000000 meters along route # Maximum depth: 276.528774 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 249.809847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526728; longitude = -121.225218; captureRadius = 10; duration = 160; # abortOnTimeout = True; initialDepth = 246.172196; finalDepth = 249.809847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.186095 # Actual altitude: 27.186095 # Commanded vehicle depth: 249.809847 # Seafloor depth: -275.542419 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 108.74; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.87; MB_Bottom_Detect_Filter_Max_Range = 108.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 52.099287 meters # Minimum depth: 271.172196 meters looking forward 50.000000 meters along route # Maximum depth: 278.927083 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 246.172196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527329; longitude = -121.225433; captureRadius = 10; duration = 120; initialDepth = 242.129044; finalDepth = 246.172196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.71859 # Actual altitude: 28.71859 # Commanded vehicle depth: 246.172196 # Seafloor depth: -274.890786 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 114.87; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.49; MB_Bottom_Detect_Filter_Max_Range = 114.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 114.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 52.099264 meters # Minimum depth: 267.129044 meters looking forward 50.000000 meters along route # Maximum depth: 273.255542 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 242.129044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527780; longitude = -121.225594; captureRadius = 10; duration = 120; initialDepth = 241.313401; finalDepth = 242.129044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.696976 # Actual altitude: 29.696976 # Commanded vehicle depth: 242.129044 # Seafloor depth: -271.826020 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 118.79; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.88; MB_Bottom_Detect_Filter_Max_Range = 118.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 118.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 52.099242 meters # Minimum depth: 266.313401 meters looking forward 50.000000 meters along route # Maximum depth: 267.097937 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 241.313401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528230; longitude = -121.225755; captureRadius = 10; duration = 120; initialDepth = 241.250535; finalDepth = 241.313401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.696976 # Actual altitude: 29.696976 # Commanded vehicle depth: 241.313401 # Seafloor depth: -267.097937 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 118.79; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.88; MB_Bottom_Detect_Filter_Max_Range = 118.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 118.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 53.187005 meters # Minimum depth: 266.250535 meters looking forward 50.000000 meters along route # Maximum depth: 266.581768 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 241.250535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528681; longitude = -121.225916; captureRadius = 10; duration = 122; initialDepth = 239.589052; finalDepth = 241.250535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.784536 # Actual altitude: 25.784536 # Commanded vehicle depth: 241.250535 # Seafloor depth: -266.336636 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 103.14; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.31; MB_Bottom_Detect_Filter_Max_Range = 103.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 103.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 51.011411 meters # Minimum depth: 264.589052 meters looking forward 50.000000 meters along route # Maximum depth: 266.231809 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 239.589052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529141; longitude = -121.226081; captureRadius = 10; duration = 117; initialDepth = 236.756422; finalDepth = 239.589052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.642757 # Actual altitude: 26.642757 # Commanded vehicle depth: 239.589052 # Seafloor depth: -266.231809 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 106.57; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.66; MB_Bottom_Detect_Filter_Max_Range = 106.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 52.099174 meters # Minimum depth: 261.756422 meters looking forward 50.000000 meters along route # Maximum depth: 264.362636 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 236.756422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529582; longitude = -121.226239; captureRadius = 10; duration = 120; initialDepth = 235.110247; finalDepth = 236.756422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.606214 # Actual altitude: 27.606214 # Commanded vehicle depth: 236.756422 # Seafloor depth: -264.362636 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 110.42; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.04; MB_Bottom_Detect_Filter_Max_Range = 110.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 52.099151 meters # Minimum depth: 260.110247 meters looking forward 50.000000 meters along route # Maximum depth: 261.642967 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 235.110247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530033; longitude = -121.226400; captureRadius = 10; duration = 120; initialDepth = 234.968927; finalDepth = 235.110247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.606214 # Actual altitude: 27.606214 # Commanded vehicle depth: 235.110247 # Seafloor depth: -261.642967 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 110.42; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.04; MB_Bottom_Detect_Filter_Max_Range = 110.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 52.099129 meters # Minimum depth: 259.968927 meters looking forward 50.000000 meters along route # Maximum depth: 265.159299 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 234.968927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530484; longitude = -121.226562; captureRadius = 10; duration = 120; initialDepth = 235.337126; finalDepth = 234.968927; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.53272 # Actual altitude: 26.53272 # Commanded vehicle depth: 234.968927 # Seafloor depth: -259.968927 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 106.13; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.61; MB_Bottom_Detect_Filter_Max_Range = 106.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 53.835743 meters # Minimum depth: 260.337126 meters looking forward 50.000000 meters along route # Maximum depth: 263.272914 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 235.337126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530935; longitude = -121.226723; captureRadius = 10; duration = 124; initialDepth = 232.117340; finalDepth = 235.337126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 27.776147 # Actual altitude: 27.776147 # Commanded vehicle depth: 235.337126 # Seafloor depth: -263.113273 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 111.10; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.11; MB_Bottom_Detect_Filter_Max_Range = 111.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 111.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 67.995880 meters # Minimum depth: 257.117340 meters looking forward 50.000000 meters along route # Maximum depth: 264.216464 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 232.117340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531400; longitude = -121.226890; captureRadius = 10; duration = 156; # abortOnTimeout = True; initialDepth = 231.757629; finalDepth = 232.117340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 28.155935 # Actual altitude: 28.155935 # Commanded vehicle depth: 232.11734 # Seafloor depth: -260.273275 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 112.62; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.26; MB_Bottom_Detect_Filter_Max_Range = 112.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 69.648741 meters # Minimum depth: 256.757629 meters looking forward 50.000000 meters along route # Maximum depth: 264.474328 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 231.757629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531581; longitude = -121.226173; captureRadius = 10; duration = 160; # abortOnTimeout = True; initialDepth = 233.952009; finalDepth = 231.757629; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.155935 # Actual altitude: 28.155935 # Commanded vehicle depth: 231.757629 # Seafloor depth: -256.757629 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 112.62; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.26; MB_Bottom_Detect_Filter_Max_Range = 112.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 52.236584 meters # Minimum depth: 258.952009 meters looking forward 50.000000 meters along route # Maximum depth: 267.238951 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 233.952009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530980; longitude = -121.225951; captureRadius = 10; duration = 120; initialDepth = 233.470911; finalDepth = 233.952009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.610609 # Actual altitude: 31.610609 # Commanded vehicle depth: 233.952009 # Seafloor depth: -265.562618 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 126.44; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.64; MB_Bottom_Detect_Filter_Max_Range = 126.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 126.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 52.236608 meters # Minimum depth: 258.470911 meters looking forward 50.000000 meters along route # Maximum depth: 259.744309 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 233.470911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530529; longitude = -121.225784; captureRadius = 10; duration = 120; initialDepth = 234.878535; finalDepth = 233.470911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.610609 # Actual altitude: 31.610609 # Commanded vehicle depth: 233.470911 # Seafloor depth: -258.592014 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 126.44; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.64; MB_Bottom_Detect_Filter_Max_Range = 126.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 126.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 52.236632 meters # Minimum depth: 259.878535 meters looking forward 50.000000 meters along route # Maximum depth: 261.625508 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 234.878535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530078; longitude = -121.225618; captureRadius = 10; duration = 120; initialDepth = 236.796384; finalDepth = 234.878535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.121103 # Actual altitude: 25.121103 # Commanded vehicle depth: 234.878535 # Seafloor depth: -259.878535 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.48; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.05; MB_Bottom_Detect_Filter_Max_Range = 100.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 52.236657 meters # Minimum depth: 261.796384 meters looking forward 50.000000 meters along route # Maximum depth: 263.231596 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 236.796384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529628; longitude = -121.225451; captureRadius = 10; duration = 120; initialDepth = 238.322307; finalDepth = 236.796384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 236.796384 # Seafloor depth: -261.796384 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 52.236680 meters # Minimum depth: 263.322307 meters looking forward 50.000000 meters along route # Maximum depth: 263.991838 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 238.322307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529177; longitude = -121.225284; captureRadius = 10; duration = 120; initialDepth = 239.066160; finalDepth = 238.322307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 238.322307 # Seafloor depth: -263.322307 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 52.236705 meters # Minimum depth: 264.066160 meters looking forward 50.000000 meters along route # Maximum depth: 265.031241 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 239.066160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528726; longitude = -121.225118; captureRadius = 10; duration = 120; initialDepth = 239.770034; finalDepth = 239.066160; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 239.06616 # Seafloor depth: -264.066160 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 52.236729 meters # Minimum depth: 264.770034 meters looking forward 50.000000 meters along route # Maximum depth: 272.293594 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 239.770034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528275; longitude = -121.224951; captureRadius = 10; duration = 120; initialDepth = 244.645984; finalDepth = 239.770034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.162322 # Actual altitude: 25.162322 # Commanded vehicle depth: 239.770034 # Seafloor depth: -264.932356 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.65; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.06; MB_Bottom_Detect_Filter_Max_Range = 100.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 52.236753 meters # Minimum depth: 269.645984 meters looking forward 50.000000 meters along route # Maximum depth: 275.371295 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 244.645984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527825; longitude = -121.224785; captureRadius = 10; duration = 120; initialDepth = 245.127897; finalDepth = 244.645984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.162322 # Actual altitude: 25.162322 # Commanded vehicle depth: 244.645984 # Seafloor depth: -269.645984 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.65; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.06; MB_Bottom_Detect_Filter_Max_Range = 100.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 53.978004 meters # Minimum depth: 270.127897 meters looking forward 50.000000 meters along route # Maximum depth: 274.327128 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 245.127897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527374; longitude = -121.224618; captureRadius = 10; duration = 124; initialDepth = 245.392726; finalDepth = 245.127897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 28.599362 # Actual altitude: 28.599362 # Commanded vehicle depth: 245.127897 # Seafloor depth: -273.727259 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 114.40; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.44; MB_Bottom_Detect_Filter_Max_Range = 114.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 114.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 36.396260 meters # Minimum depth: 270.392726 meters looking forward 50.000000 meters along route # Maximum depth: 274.911993 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 245.392726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526908; longitude = -121.224446; captureRadius = 10; duration = 83; # abortOnTimeout = True; initialDepth = 247.425079; finalDepth = 245.392726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 28.599362 # Actual altitude: 28.599362 # Commanded vehicle depth: 245.392726 # Seafloor depth: -272.298014 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 114.40; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.44; MB_Bottom_Detect_Filter_Max_Range = 114.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 114.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 62.484707 meters # Minimum depth: 272.425079 meters looking forward 50.000000 meters along route # Maximum depth: 274.765590 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 247.425079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.526818; longitude = -121.224832; captureRadius = 10; duration = 144; # abortOnTimeout = True; initialDepth = 245.810768; finalDepth = 247.425079; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.905288 # Actual altitude: 26.905288 # Commanded vehicle depth: 247.425079 # Seafloor depth: -274.226888 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 107.62; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.76; MB_Bottom_Detect_Filter_Max_Range = 107.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 107.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.123825 meters # Minimum depth: 270.810768 meters looking forward 50.000000 meters along route # Maximum depth: 274.525755 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 245.810768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527357; longitude = -121.225034; captureRadius = 10; duration = 117; initialDepth = 241.205555; finalDepth = 245.810768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.714987 # Actual altitude: 28.714987 # Commanded vehicle depth: 245.810768 # Seafloor depth: -274.525755 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 114.86; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.49; MB_Bottom_Detect_Filter_Max_Range = 114.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 114.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 51.123800 meters # Minimum depth: 266.205555 meters looking forward 50.000000 meters along route # Maximum depth: 270.487242 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 241.205555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.527797; longitude = -121.225199; captureRadius = 10; duration = 117; initialDepth = 237.618582; finalDepth = 241.205555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.281687 # Actual altitude: 29.281687 # Commanded vehicle depth: 241.205555 # Seafloor depth: -270.487242 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 117.13; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.71; MB_Bottom_Detect_Filter_Max_Range = 117.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 117.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 51.461228 meters # Minimum depth: 262.618582 meters looking forward 50.000000 meters along route # Maximum depth: 266.195188 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 237.618582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528238; longitude = -121.225365; captureRadius = 10; duration = 118; initialDepth = 222.633025; finalDepth = 237.618582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.281687 # Actual altitude: 29.281687 # Commanded vehicle depth: 237.618582 # Seafloor depth: -266.195188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 117.13; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.71; MB_Bottom_Detect_Filter_Max_Range = 117.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 117.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 52.304830 meters # Minimum depth: 247.633025 meters looking forward 50.000000 meters along route # Maximum depth: 262.441823 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 222.633025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.528681; longitude = -121.225531; captureRadius = 10; duration = 120; initialDepth = 220.165023; finalDepth = 222.633025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 39.808798 # Actual altitude: 39.808798 # Commanded vehicle depth: 222.633025 # Seafloor depth: -262.441823 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 159.24; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.92; MB_Bottom_Detect_Filter_Max_Range = 159.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 52.304804 meters # Minimum depth: 245.165023 meters looking forward 50.000000 meters along route # Maximum depth: 249.756700 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 220.165023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529132; longitude = -121.225700; captureRadius = 10; duration = 120; initialDepth = 219.481573; finalDepth = 220.165023; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 39.808798 # Actual altitude: 39.808798 # Commanded vehicle depth: 220.165023 # Seafloor depth: -249.372001 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 159.24; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.92; MB_Bottom_Detect_Filter_Max_Range = 159.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 52.304780 meters # Minimum depth: 244.481573 meters looking forward 50.000000 meters along route # Maximum depth: 264.940047 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 219.481573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.529582; longitude = -121.225869; captureRadius = 10; duration = 120; initialDepth = 234.513565; finalDepth = 219.481573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.206978 # Actual altitude: 29.206978 # Commanded vehicle depth: 219.481573 # Seafloor depth: -244.683976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 116.83; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.68; MB_Bottom_Detect_Filter_Max_Range = 116.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 116.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 52.304755 meters # Minimum depth: 259.513565 meters looking forward 50.000000 meters along route # Maximum depth: 262.164483 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 234.513565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530033; longitude = -121.226039; captureRadius = 10; duration = 120; initialDepth = 234.398841; finalDepth = 234.513565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.650918 # Actual altitude: 27.650918 # Commanded vehicle depth: 234.513565 # Seafloor depth: -262.164483 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 110.60; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.06; MB_Bottom_Detect_Filter_Max_Range = 110.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 52.304730 meters # Minimum depth: 259.398841 meters looking forward 50.000000 meters along route # Maximum depth: 262.138457 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 234.398841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530484; longitude = -121.226208; captureRadius = 10; duration = 120; initialDepth = 237.750823; finalDepth = 234.398841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.650918 # Actual altitude: 27.650918 # Commanded vehicle depth: 234.398841 # Seafloor depth: -259.398841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 110.60; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.06; MB_Bottom_Detect_Filter_Max_Range = 110.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.561215 meters # Minimum depth: 262.750823 meters looking forward 50.000000 meters along route # Maximum depth: 267.015800 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 237.750823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.530935; longitude = -121.226377; captureRadius = 10; duration = 116; initialDepth = 229.496358; finalDepth = 237.750823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 237.750823 # Seafloor depth: -262.750823 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 74.715879 meters # Minimum depth: 254.496358 meters looking forward 50.000000 meters along route # Maximum depth: 266.300598 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 229.496358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531370; longitude = -121.226541; captureRadius = 10; duration = 172; # abortOnTimeout = True; initialDepth = 229.569659; finalDepth = 229.496358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 36.80424 # Actual altitude: 36.80424 # Commanded vehicle depth: 229.496358 # Seafloor depth: -266.300598 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 147.22; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.72; MB_Bottom_Detect_Filter_Max_Range = 147.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 53.795344 meters # Minimum depth: 254.569659 meters looking forward 50.000000 meters along route # Maximum depth: 257.215335 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 229.569659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.531929; longitude = -121.226081; captureRadius = 10; duration = 124; initialDepth = 227.729209; finalDepth = 229.569659; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 36.80424 # Actual altitude: 36.80424 # Commanded vehicle depth: 229.569659 # Seafloor depth: -254.578785 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 147.22; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.72; MB_Bottom_Detect_Filter_Max_Range = 147.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.202388 meters # Minimum depth: 252.729209 meters looking forward 50.000000 meters along route # Maximum depth: 255.435907 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 227.729209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532332; longitude = -121.225750; captureRadius = 10; duration = 125; initialDepth = 228.692290; finalDepth = 227.729209; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.706698 # Actual altitude: 27.706698 # Commanded vehicle depth: 227.729209 # Seafloor depth: -255.435907 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 110.83; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.08; MB_Bottom_Detect_Filter_Max_Range = 110.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.211565 meters # Minimum depth: 253.692290 meters looking forward 50.000000 meters along route # Maximum depth: 255.211027 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 228.692290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.532738; longitude = -121.225417; captureRadius = 10; duration = 125; initialDepth = 225.521133; finalDepth = 228.692290; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.706698 # Actual altitude: 27.706698 # Commanded vehicle depth: 228.69229 # Seafloor depth: -255.211027 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 110.83; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.08; MB_Bottom_Detect_Filter_Max_Range = 110.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.211489 meters # Minimum depth: 250.521133 meters looking forward 50.000000 meters along route # Maximum depth: 253.651017 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 225.521133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533143; longitude = -121.225084; captureRadius = 10; duration = 125; initialDepth = 216.095632; finalDepth = 225.521133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.129884 # Actual altitude: 28.129884 # Commanded vehicle depth: 225.521133 # Seafloor depth: -253.651017 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 112.52; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.25; MB_Bottom_Detect_Filter_Max_Range = 112.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.211413 meters # Minimum depth: 241.095632 meters looking forward 50.000000 meters along route # Maximum depth: 250.594056 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 216.095632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533549; longitude = -121.224751; captureRadius = 10; duration = 125; initialDepth = 219.247130; finalDepth = 216.095632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.37927 # Actual altitude: 34.37927 # Commanded vehicle depth: 216.095632 # Seafloor depth: -250.474902 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 137.52; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.75; MB_Bottom_Detect_Filter_Max_Range = 137.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 137.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.211337 meters # Minimum depth: 244.247130 meters looking forward 50.000000 meters along route # Maximum depth: 247.004651 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 219.247130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.533954; longitude = -121.224417; captureRadius = 10; duration = 125; initialDepth = 214.444725; finalDepth = 219.247130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.37927 # Actual altitude: 34.37927 # Commanded vehicle depth: 219.24713 # Seafloor depth: -244.507442 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 137.52; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.75; MB_Bottom_Detect_Filter_Max_Range = 137.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 137.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.211261 meters # Minimum depth: 239.444725 meters looking forward 50.000000 meters along route # Maximum depth: 245.893185 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 214.444725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534360; longitude = -121.224084; captureRadius = 10; duration = 125; initialDepth = 212.992448; finalDepth = 214.444725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.656759 # Actual altitude: 30.656759 # Commanded vehicle depth: 214.444725 # Seafloor depth: -245.101484 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 122.63; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.26; MB_Bottom_Detect_Filter_Max_Range = 122.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 122.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.211185 meters # Minimum depth: 237.992448 meters looking forward 50.000000 meters along route # Maximum depth: 240.589388 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 212.992448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.534766; longitude = -121.223751; captureRadius = 10; duration = 125; initialDepth = 211.802725; finalDepth = 212.992448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.656759 # Actual altitude: 30.656759 # Commanded vehicle depth: 212.992448 # Seafloor depth: -239.168929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 122.63; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.26; MB_Bottom_Detect_Filter_Max_Range = 122.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 122.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.211109 meters # Minimum depth: 236.802725 meters looking forward 50.000000 meters along route # Maximum depth: 240.117091 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 211.802725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.535171; longitude = -121.223417; captureRadius = 10; duration = 125; initialDepth = 210.319457; finalDepth = 211.802725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.761543 # Actual altitude: 26.761543 # Commanded vehicle depth: 211.802725 # Seafloor depth: -238.564268 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 107.05; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.70; MB_Bottom_Detect_Filter_Max_Range = 107.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 107.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.211033 meters # Minimum depth: 235.319457 meters looking forward 50.000000 meters along route # Maximum depth: 238.007226 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 210.319457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.535577; longitude = -121.223084; captureRadius = 10; duration = 125; initialDepth = 198.184359; finalDepth = 210.319457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.157322 # Actual altitude: 27.157322 # Commanded vehicle depth: 210.319457 # Seafloor depth: -237.476779 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 108.63; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.86; MB_Bottom_Detect_Filter_Max_Range = 108.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.056544 meters # Minimum depth: 223.184359 meters looking forward 50.000000 meters along route # Maximum depth: 238.702711 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 198.184359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.535983; longitude = -121.222751; captureRadius = 10; duration = 115; initialDepth = 190.356685; finalDepth = 198.184359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.518352 # Actual altitude: 40.518352 # Commanded vehicle depth: 198.184359 # Seafloor depth: -238.702711 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 162.07; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 162.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.794521 meters # Minimum depth: 215.356685 meters looking forward 50.000000 meters along route # Maximum depth: 232.594802 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 190.356685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.536357; longitude = -121.222443; captureRadius = 10; duration = 124; initialDepth = 204.005473; finalDepth = 190.356685; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.518352 # Actual altitude: 40.518352 # Commanded vehicle depth: 190.356685 # Seafloor depth: -219.538655 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 162.07; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 162.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.794446 meters # Minimum depth: 229.005473 meters looking forward 50.000000 meters along route # Maximum depth: 233.581332 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 204.005473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.536760; longitude = -121.222112; captureRadius = 10; duration = 124; initialDepth = 201.805460; finalDepth = 204.005473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.18197 # Actual altitude: 29.18197 # Commanded vehicle depth: 204.005473 # Seafloor depth: -229.005473 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 116.73; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.67; MB_Bottom_Detect_Filter_Max_Range = 116.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 116.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.794371 meters # Minimum depth: 226.805460 meters looking forward 50.000000 meters along route # Maximum depth: 232.527644 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 201.805460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.537162; longitude = -121.221781; captureRadius = 10; duration = 124; initialDepth = 196.762117; finalDepth = 201.805460; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.722184 # Actual altitude: 30.722184 # Commanded vehicle depth: 201.80546 # Seafloor depth: -232.527644 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 122.89; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.29; MB_Bottom_Detect_Filter_Max_Range = 122.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 122.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.794296 meters # Minimum depth: 221.762117 meters looking forward 50.000000 meters along route # Maximum depth: 227.954616 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 196.762117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.537565; longitude = -121.221451; captureRadius = 10; duration = 124; initialDepth = 194.959508; finalDepth = 196.762117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.064322 # Actual altitude: 31.064322 # Commanded vehicle depth: 196.762117 # Seafloor depth: -227.826439 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 124.26; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.43; MB_Bottom_Detect_Filter_Max_Range = 124.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 124.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.007030 meters # Minimum depth: 219.959508 meters looking forward 50.000000 meters along route # Maximum depth: 222.227618 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 194.959508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.537967; longitude = -121.221120; captureRadius = 10; duration = 124; initialDepth = 191.646140; finalDepth = 194.959508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.064322 # Actual altitude: 31.064322 # Commanded vehicle depth: 194.959508 # Seafloor depth: -221.753332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 124.26; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.43; MB_Bottom_Detect_Filter_Max_Range = 124.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 124.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.210509 meters # Minimum depth: 216.646140 meters looking forward 50.000000 meters along route # Maximum depth: 220.580895 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 191.646140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.538372; longitude = -121.220788; captureRadius = 10; duration = 125; initialDepth = 184.502445; finalDepth = 191.646140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.934755 # Actual altitude: 28.934755 # Commanded vehicle depth: 191.64614 # Seafloor depth: -220.580895 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 115.74; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.57; MB_Bottom_Detect_Filter_Max_Range = 115.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 115.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.210434 meters # Minimum depth: 209.502445 meters looking forward 50.000000 meters along route # Maximum depth: 216.679812 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 184.502445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.538777; longitude = -121.220455; captureRadius = 10; duration = 125; initialDepth = 184.368885; finalDepth = 184.502445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.065038 # Actual altitude: 32.065038 # Commanded vehicle depth: 184.502445 # Seafloor depth: -216.567483 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 128.26; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.83; MB_Bottom_Detect_Filter_Max_Range = 128.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 128.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.210357 meters # Minimum depth: 209.368885 meters looking forward 50.000000 meters along route # Maximum depth: 214.933251 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 184.368885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.539183; longitude = -121.220121; captureRadius = 10; duration = 125; initialDepth = 182.324672; finalDepth = 184.368885; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.065038 # Actual altitude: 32.065038 # Commanded vehicle depth: 184.368885 # Seafloor depth: -214.710407 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 128.26; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.83; MB_Bottom_Detect_Filter_Max_Range = 128.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 128.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.210282 meters # Minimum depth: 207.324672 meters looking forward 50.000000 meters along route # Maximum depth: 212.987186 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 182.324672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.539588; longitude = -121.219788; captureRadius = 10; duration = 125; initialDepth = 179.030826; finalDepth = 182.324672; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.662514 # Actual altitude: 30.662514 # Commanded vehicle depth: 182.324672 # Seafloor depth: -212.987186 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 122.65; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.27; MB_Bottom_Detect_Filter_Max_Range = 122.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 122.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.210205 meters # Minimum depth: 204.030826 meters looking forward 50.000000 meters along route # Maximum depth: 213.375514 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 179.030826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.539994; longitude = -121.219455; captureRadius = 10; duration = 125; initialDepth = 177.197382; finalDepth = 179.030826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.344688 # Actual altitude: 34.344688 # Commanded vehicle depth: 179.030826 # Seafloor depth: -213.375514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 137.38; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.74; MB_Bottom_Detect_Filter_Max_Range = 137.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 137.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.210130 meters # Minimum depth: 202.197382 meters looking forward 50.000000 meters along route # Maximum depth: 206.417903 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 177.197382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.540400; longitude = -121.219121; captureRadius = 10; duration = 125; initialDepth = 175.737384; finalDepth = 177.197382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.344688 # Actual altitude: 34.344688 # Commanded vehicle depth: 177.197382 # Seafloor depth: -204.181644 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 137.38; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.74; MB_Bottom_Detect_Filter_Max_Range = 137.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 137.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.210054 meters # Minimum depth: 200.737384 meters looking forward 50.000000 meters along route # Maximum depth: 204.081467 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 175.737384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.540805; longitude = -121.218788; captureRadius = 10; duration = 125; initialDepth = 173.309224; finalDepth = 175.737384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.970289 # Actual altitude: 27.970289 # Commanded vehicle depth: 175.737384 # Seafloor depth: -203.707673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 111.88; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.19; MB_Bottom_Detect_Filter_Max_Range = 111.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 111.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.209977 meters # Minimum depth: 198.309224 meters looking forward 50.000000 meters along route # Maximum depth: 201.390778 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 173.309224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.541211; longitude = -121.218455; captureRadius = 10; duration = 125; initialDepth = 169.128321; finalDepth = 173.309224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.970289 # Actual altitude: 27.970289 # Commanded vehicle depth: 173.309224 # Seafloor depth: -200.437026 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 111.88; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.19; MB_Bottom_Detect_Filter_Max_Range = 111.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 111.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.249871 meters # Minimum depth: 194.128321 meters looking forward 50.000000 meters along route # Maximum depth: 198.368254 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 169.128321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.541617; longitude = -121.218121; captureRadius = 10; duration = 115; initialDepth = 165.625240; finalDepth = 169.128321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.892344 # Actual altitude: 28.892344 # Commanded vehicle depth: 169.128321 # Seafloor depth: -198.020665 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 115.57; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.56; MB_Bottom_Detect_Filter_Max_Range = 115.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 115.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.793473 meters # Minimum depth: 190.625240 meters looking forward 50.000000 meters along route # Maximum depth: 198.326795 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 165.625240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.541993; longitude = -121.217812; captureRadius = 10; duration = 124; initialDepth = 166.003510; finalDepth = 165.625240; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.892344 # Actual altitude: 28.892344 # Commanded vehicle depth: 165.62524 # Seafloor depth: -193.311853 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 115.57; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.56; MB_Bottom_Detect_Filter_Max_Range = 115.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 115.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.793399 meters # Minimum depth: 191.003510 meters looking forward 50.000000 meters along route # Maximum depth: 197.940104 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 166.003510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.542395; longitude = -121.217482; captureRadius = 10; duration = 124; initialDepth = 157.541592; finalDepth = 166.003510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.505998 # Actual altitude: 30.505998 # Commanded vehicle depth: 166.00351 # Seafloor depth: -196.509508 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 122.02; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.20; MB_Bottom_Detect_Filter_Max_Range = 122.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 122.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.793323 meters # Minimum depth: 182.541592 meters looking forward 50.000000 meters along route # Maximum depth: 191.748803 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 157.541592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.542798; longitude = -121.217151; captureRadius = 10; duration = 124; initialDepth = 157.947977; finalDepth = 157.541592; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.207211 # Actual altitude: 34.207211 # Commanded vehicle depth: 157.541592 # Seafloor depth: -191.748803 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 136.83; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.68; MB_Bottom_Detect_Filter_Max_Range = 136.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 136.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.793249 meters # Minimum depth: 182.947977 meters looking forward 50.000000 meters along route # Maximum depth: 189.323545 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 157.947977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.543200; longitude = -121.216820; captureRadius = 10; duration = 124; initialDepth = 158.576847; finalDepth = 157.947977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.207211 # Actual altitude: 34.207211 # Commanded vehicle depth: 157.947977 # Seafloor depth: -182.947977 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 136.83; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.68; MB_Bottom_Detect_Filter_Max_Range = 136.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 136.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.811679 meters # Minimum depth: 183.576847 meters looking forward 50.000000 meters along route # Maximum depth: 189.298918 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 158.576847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.543603; longitude = -121.216489; captureRadius = 10; duration = 124; initialDepth = 155.170685; finalDepth = 158.576847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.156167 # Actual altitude: 27.156167 # Commanded vehicle depth: 158.576847 # Seafloor depth: -185.733014 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 108.62; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.86; MB_Bottom_Detect_Filter_Max_Range = 108.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.209454 meters # Minimum depth: 180.170685 meters looking forward 50.000000 meters along route # Maximum depth: 183.820620 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 155.170685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.544006; longitude = -121.216159; captureRadius = 10; duration = 125; initialDepth = 150.197224; finalDepth = 155.170685; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.649935 # Actual altitude: 28.649935 # Commanded vehicle depth: 155.170685 # Seafloor depth: -183.820620 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 114.60; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.46; MB_Bottom_Detect_Filter_Max_Range = 114.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 114.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.209378 meters # Minimum depth: 175.197224 meters looking forward 50.000000 meters along route # Maximum depth: 181.865254 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 150.197224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.544411; longitude = -121.215825; captureRadius = 10; duration = 125; initialDepth = 149.225835; finalDepth = 150.197224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.387577 # Actual altitude: 31.387577 # Commanded vehicle depth: 150.197224 # Seafloor depth: -181.584801 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 125.55; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.56; MB_Bottom_Detect_Filter_Max_Range = 125.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 125.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.209303 meters # Minimum depth: 174.225835 meters looking forward 50.000000 meters along route # Maximum depth: 176.529021 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 149.225835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.544817; longitude = -121.215492; captureRadius = 10; duration = 125; initialDepth = 146.424052; finalDepth = 149.225835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.387577 # Actual altitude: 31.387577 # Commanded vehicle depth: 149.225835 # Seafloor depth: -175.913425 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 125.55; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.56; MB_Bottom_Detect_Filter_Max_Range = 125.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 125.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.209226 meters # Minimum depth: 171.424052 meters looking forward 50.000000 meters along route # Maximum depth: 176.891966 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 146.424052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.545223; longitude = -121.215159; captureRadius = 10; duration = 125; initialDepth = 145.814195; finalDepth = 146.424052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.467914 # Actual altitude: 30.467914 # Commanded vehicle depth: 146.424052 # Seafloor depth: -176.891966 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 121.87; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.19; MB_Bottom_Detect_Filter_Max_Range = 121.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 121.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.209150 meters # Minimum depth: 170.814195 meters looking forward 50.000000 meters along route # Maximum depth: 172.284576 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 145.814195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.545628; longitude = -121.214825; captureRadius = 10; duration = 125; initialDepth = 143.887629; finalDepth = 145.814195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.467914 # Actual altitude: 30.467914 # Commanded vehicle depth: 145.814195 # Seafloor depth: -171.408610 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 121.87; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.19; MB_Bottom_Detect_Filter_Max_Range = 121.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 121.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.209075 meters # Minimum depth: 168.887629 meters looking forward 50.000000 meters along route # Maximum depth: 170.649758 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 143.887629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.546034; longitude = -121.214492; captureRadius = 10; duration = 125; initialDepth = 141.946476; finalDepth = 143.887629; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.762129 # Actual altitude: 26.762129 # Commanded vehicle depth: 143.887629 # Seafloor depth: -170.649758 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 107.05; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.70; MB_Bottom_Detect_Filter_Max_Range = 107.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 107.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.208998 meters # Minimum depth: 166.946476 meters looking forward 50.000000 meters along route # Maximum depth: 169.830776 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 141.946476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.546439; longitude = -121.214159; captureRadius = 10; duration = 125; initialDepth = 137.603837; finalDepth = 141.946476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.893728 # Actual altitude: 26.893728 # Commanded vehicle depth: 141.946476 # Seafloor depth: -168.840204 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 107.57; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.76; MB_Bottom_Detect_Filter_Max_Range = 107.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 107.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.208922 meters # Minimum depth: 162.603837 meters looking forward 50.000000 meters along route # Maximum depth: 169.074322 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 137.603837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.546845; longitude = -121.213825; captureRadius = 10; duration = 125; initialDepth = 136.904604; finalDepth = 137.603837; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.749786 # Actual altitude: 29.749786 # Commanded vehicle depth: 137.603837 # Seafloor depth: -167.353623 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 119.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.90; MB_Bottom_Detect_Filter_Max_Range = 119.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 119.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.208847 meters # Minimum depth: 161.904604 meters looking forward 50.000000 meters along route # Maximum depth: 163.840955 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 136.904604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.547251; longitude = -121.213492; captureRadius = 10; duration = 125; initialDepth = 131.670807; finalDepth = 136.904604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.749786 # Actual altitude: 29.749786 # Commanded vehicle depth: 136.904604 # Seafloor depth: -162.428825 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 119.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.90; MB_Bottom_Detect_Filter_Max_Range = 119.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 119.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.026769 meters # Minimum depth: 156.670807 meters looking forward 50.000000 meters along route # Maximum depth: 163.773016 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 131.670807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.547656; longitude = -121.213159; captureRadius = 10; duration = 115; initialDepth = 128.807411; finalDepth = 131.670807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.047794 # Actual altitude: 30.047794 # Commanded vehicle depth: 131.670807 # Seafloor depth: -161.718601 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 120.19; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.02; MB_Bottom_Detect_Filter_Max_Range = 120.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.792351 meters # Minimum depth: 153.807411 meters looking forward 50.000000 meters along route # Maximum depth: 156.471473 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 128.807411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.548031; longitude = -121.212851; captureRadius = 10; duration = 124; initialDepth = 123.765879; finalDepth = 128.807411; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.047794 # Actual altitude: 30.047794 # Commanded vehicle depth: 128.807411 # Seafloor depth: -156.471473 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 120.19; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.02; MB_Bottom_Detect_Filter_Max_Range = 120.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.792276 meters # Minimum depth: 148.765879 meters looking forward 50.000000 meters along route # Maximum depth: 153.716461 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 123.765879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.548433; longitude = -121.212521; captureRadius = 10; duration = 124; initialDepth = 120.706316; finalDepth = 123.765879; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.950582 # Actual altitude: 29.950582 # Commanded vehicle depth: 123.765879 # Seafloor depth: -153.716461 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 119.80; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.98; MB_Bottom_Detect_Filter_Max_Range = 119.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 119.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.792202 meters # Minimum depth: 145.706316 meters looking forward 50.000000 meters along route # Maximum depth: 151.839888 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 120.706316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.548836; longitude = -121.212190; captureRadius = 10; duration = 124; initialDepth = 117.246317; finalDepth = 120.706316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.950582 # Actual altitude: 29.950582 # Commanded vehicle depth: 120.706316 # Seafloor depth: -149.891147 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 119.80; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.98; MB_Bottom_Detect_Filter_Max_Range = 119.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 119.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.792126 meters # Minimum depth: 142.246317 meters looking forward 50.000000 meters along route # Maximum depth: 145.957726 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 117.246317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.549238; longitude = -121.211859; captureRadius = 10; duration = 124; initialDepth = 114.554201; finalDepth = 117.246317; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.184831 # Actual altitude: 29.184831 # Commanded vehicle depth: 117.246317 # Seafloor depth: -145.728421 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 116.74; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.67; MB_Bottom_Detect_Filter_Max_Range = 116.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 116.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.032608 meters # Minimum depth: 139.554201 meters looking forward 50.000000 meters along route # Maximum depth: 142.806055 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 114.554201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.549641; longitude = -121.211528; captureRadius = 10; duration = 124; initialDepth = 111.182636; finalDepth = 114.554201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.482104 # Actual altitude: 28.482104 # Commanded vehicle depth: 114.554201 # Seafloor depth: -142.247330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 113.93; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.39; MB_Bottom_Detect_Filter_Max_Range = 113.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 113.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.208323 meters # Minimum depth: 136.182636 meters looking forward 50.000000 meters along route # Maximum depth: 140.176171 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 111.182636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.550045; longitude = -121.211196; captureRadius = 10; duration = 125; initialDepth = 108.824337; finalDepth = 111.182636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.418034 # Actual altitude: 28.418034 # Commanded vehicle depth: 111.182636 # Seafloor depth: -139.600670 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 113.67; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.37; MB_Bottom_Detect_Filter_Max_Range = 113.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 113.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.208247 meters # Minimum depth: 133.824337 meters looking forward 50.000000 meters along route # Maximum depth: 140.125395 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 108.824337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.550451; longitude = -121.210863; captureRadius = 10; duration = 125; initialDepth = 104.924249; finalDepth = 108.824337; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.301058 # Actual altitude: 31.301058 # Commanded vehicle depth: 108.824337 # Seafloor depth: -140.125395 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 125.20; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.52; MB_Bottom_Detect_Filter_Max_Range = 125.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 125.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.208172 meters # Minimum depth: 129.924249 meters looking forward 50.000000 meters along route # Maximum depth: 133.759079 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 104.924249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.550857; longitude = -121.210529; captureRadius = 10; duration = 125; initialDepth = 101.680240; finalDepth = 104.924249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.301058 # Actual altitude: 31.301058 # Commanded vehicle depth: 104.924249 # Seafloor depth: -133.759079 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 125.20; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.52; MB_Bottom_Detect_Filter_Max_Range = 125.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 125.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.208095 meters # Minimum depth: 126.680240 meters looking forward 50.000000 meters along route # Maximum depth: 132.277948 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 101.680240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.551262; longitude = -121.210196; captureRadius = 10; duration = 125; initialDepth = 101.510559; finalDepth = 101.680240; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.566686 # Actual altitude: 30.566686 # Commanded vehicle depth: 101.68024 # Seafloor depth: -132.246926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 122.27; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.23; MB_Bottom_Detect_Filter_Max_Range = 122.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 122.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.208019 meters # Minimum depth: 126.510559 meters looking forward 50.000000 meters along route # Maximum depth: 132.288798 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 101.510559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.551668; longitude = -121.209863; captureRadius = 10; duration = 125; initialDepth = 101.731450; finalDepth = 101.510559; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.566686 # Actual altitude: 30.566686 # Commanded vehicle depth: 101.510559 # Seafloor depth: -126.623577 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 122.27; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.23; MB_Bottom_Detect_Filter_Max_Range = 122.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 122.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.207943 meters # Minimum depth: 126.731450 meters looking forward 50.000000 meters along route # Maximum depth: 127.965699 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 101.731450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.552073; longitude = -121.209530; captureRadius = 10; duration = 125; initialDepth = 101.481166; finalDepth = 101.731450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.234249 # Actual altitude: 26.234249 # Commanded vehicle depth: 101.73145 # Seafloor depth: -127.965699 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 104.94; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.49; MB_Bottom_Detect_Filter_Max_Range = 104.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 104.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.207867 meters # Minimum depth: 126.481166 meters looking forward 50.000000 meters along route # Maximum depth: 126.720675 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 101.481166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.552479; longitude = -121.209196; captureRadius = 10; duration = 125; initialDepth = 101.015765; finalDepth = 101.481166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.234249 # Actual altitude: 26.234249 # Commanded vehicle depth: 101.481166 # Seafloor depth: -126.720675 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 104.94; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.49; MB_Bottom_Detect_Filter_Max_Range = 104.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 104.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.207792 meters # Minimum depth: 126.015765 meters looking forward 50.000000 meters along route # Maximum depth: 126.462982 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 101.015765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.552885; longitude = -121.208863; captureRadius = 10; duration = 125; initialDepth = 94.564640; finalDepth = 101.015765; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.447217 # Actual altitude: 25.447217 # Commanded vehicle depth: 101.015765 # Seafloor depth: -126.462982 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 101.79; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.18; MB_Bottom_Detect_Filter_Max_Range = 101.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 101.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.220088 meters # Minimum depth: 119.564640 meters looking forward 50.000000 meters along route # Maximum depth: 125.975530 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 94.564640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.553290; longitude = -121.208530; captureRadius = 10; duration = 115; initialDepth = 92.258890; finalDepth = 94.564640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.41089 # Actual altitude: 31.41089 # Commanded vehicle depth: 94.56464 # Seafloor depth: -125.975530 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 125.64; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.56; MB_Bottom_Detect_Filter_Max_Range = 125.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 125.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.791303 meters # Minimum depth: 117.258890 meters looking forward 50.000000 meters along route # Maximum depth: 119.467899 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 92.258890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.553666; longitude = -121.208221; captureRadius = 10; duration = 124; initialDepth = 90.763804; finalDepth = 92.258890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.41089 # Actual altitude: 31.41089 # Commanded vehicle depth: 92.25889 # Seafloor depth: -119.467899 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 125.64; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.56; MB_Bottom_Detect_Filter_Max_Range = 125.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 125.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.791230 meters # Minimum depth: 115.763804 meters looking forward 50.000000 meters along route # Maximum depth: 117.191585 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 90.763804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.554069; longitude = -121.207890; captureRadius = 10; duration = 124; initialDepth = 90.338987; finalDepth = 90.763804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.209009 # Actual altitude: 27.209009 # Commanded vehicle depth: 90.763804 # Seafloor depth: -117.191585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 108.84; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.88; MB_Bottom_Detect_Filter_Max_Range = 108.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.791154 meters # Minimum depth: 115.338987 meters looking forward 50.000000 meters along route # Maximum depth: 115.756050 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 90.338987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.554471; longitude = -121.207559; captureRadius = 10; duration = 124; initialDepth = 89.490046; finalDepth = 90.338987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.427781 # Actual altitude: 26.427781 # Commanded vehicle depth: 90.338987 # Seafloor depth: -115.756050 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 105.71; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.57; MB_Bottom_Detect_Filter_Max_Range = 105.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 105.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.791079 meters # Minimum depth: 114.490046 meters looking forward 50.000000 meters along route # Maximum depth: 115.329861 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 89.490046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.554874; longitude = -121.207229; captureRadius = 10; duration = 124; initialDepth = 88.024420; finalDepth = 89.490046; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.839815 # Actual altitude: 25.839815 # Commanded vehicle depth: 89.490046 # Seafloor depth: -115.329861 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 103.36; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.34; MB_Bottom_Detect_Filter_Max_Range = 103.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 103.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.837265 meters # Minimum depth: 113.024420 meters looking forward 50.000000 meters along route # Maximum depth: 114.481964 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 88.024420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.555276; longitude = -121.206898; captureRadius = 10; duration = 124; initialDepth = 86.008470; finalDepth = 88.024420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.457544 # Actual altitude: 26.457544 # Commanded vehicle depth: 88.02442 # Seafloor depth: -114.481964 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 105.83; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.58; MB_Bottom_Detect_Filter_Max_Range = 105.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 105.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.207268 meters # Minimum depth: 111.008470 meters looking forward 50.000000 meters along route # Maximum depth: 113.022888 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 86.008470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.555679; longitude = -121.206567; captureRadius = 10; duration = 125; initialDepth = 83.898594; finalDepth = 86.008470; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.014418 # Actual altitude: 27.014418 # Commanded vehicle depth: 86.00847 # Seafloor depth: -113.022888 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 108.06; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.81; MB_Bottom_Detect_Filter_Max_Range = 108.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.207192 meters # Minimum depth: 108.898594 meters looking forward 50.000000 meters along route # Maximum depth: 110.989745 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 83.898594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.556085; longitude = -121.206234; captureRadius = 10; duration = 125; initialDepth = 82.090768; finalDepth = 83.898594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.091151 # Actual altitude: 27.091151 # Commanded vehicle depth: 83.898594 # Seafloor depth: -110.989745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 108.36; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.84; MB_Bottom_Detect_Filter_Max_Range = 108.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.207116 meters # Minimum depth: 107.090768 meters looking forward 50.000000 meters along route # Maximum depth: 108.868260 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 82.090768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.556491; longitude = -121.205900; captureRadius = 10; duration = 125; initialDepth = 80.792154; finalDepth = 82.090768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.091151 # Actual altitude: 27.091151 # Commanded vehicle depth: 82.090768 # Seafloor depth: -108.868260 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 108.36; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.84; MB_Bottom_Detect_Filter_Max_Range = 108.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.207040 meters # Minimum depth: 105.792154 meters looking forward 50.000000 meters along route # Maximum depth: 107.052861 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 80.792154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.556896; longitude = -121.205567; captureRadius = 10; duration = 125; initialDepth = 79.994328; finalDepth = 80.792154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.777492 # Actual altitude: 26.777492 # Commanded vehicle depth: 80.792154 # Seafloor depth: -107.052861 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 107.11; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.71; MB_Bottom_Detect_Filter_Max_Range = 107.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 107.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.206964 meters # Minimum depth: 104.994328 meters looking forward 50.000000 meters along route # Maximum depth: 105.758948 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 79.994328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.557302; longitude = -121.205234; captureRadius = 10; duration = 125; initialDepth = 79.564176; finalDepth = 79.994328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.260707 # Actual altitude: 26.260707 # Commanded vehicle depth: 79.994328 # Seafloor depth: -105.758948 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 105.04; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.50; MB_Bottom_Detect_Filter_Max_Range = 105.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 105.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.206889 meters # Minimum depth: 104.564176 meters looking forward 50.000000 meters along route # Maximum depth: 104.972770 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 79.564176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.557707; longitude = -121.204900; captureRadius = 10; duration = 125; initialDepth = 79.353913; finalDepth = 79.564176; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.76462 # Actual altitude: 25.76462 # Commanded vehicle depth: 79.564176 # Seafloor depth: -104.972770 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 103.06; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.31; MB_Bottom_Detect_Filter_Max_Range = 103.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 103.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.206812 meters # Minimum depth: 104.353913 meters looking forward 50.000000 meters along route # Maximum depth: 104.550253 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 79.353913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.558113; longitude = -121.204567; captureRadius = 10; duration = 125; initialDepth = 79.257191; finalDepth = 79.353913; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.408594 # Actual altitude: 25.408594 # Commanded vehicle depth: 79.353913 # Seafloor depth: -104.550253 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 101.63; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.16; MB_Bottom_Detect_Filter_Max_Range = 101.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 101.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.206736 meters # Minimum depth: 104.257191 meters looking forward 50.000000 meters along route # Maximum depth: 104.346053 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 79.257191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.558519; longitude = -121.204234; captureRadius = 10; duration = 125; initialDepth = 79.188224; finalDepth = 79.257191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.19634 # Actual altitude: 25.19634 # Commanded vehicle depth: 79.257191 # Seafloor depth: -104.346053 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.79; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.08; MB_Bottom_Detect_Filter_Max_Range = 100.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.413399 meters # Minimum depth: 104.188224 meters looking forward 50.000000 meters along route # Maximum depth: 104.252435 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 79.188224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.558924; longitude = -121.203900; captureRadius = 10; duration = 116; initialDepth = 78.981687; finalDepth = 79.188224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.088862 # Actual altitude: 25.088862 # Commanded vehicle depth: 79.188224 # Seafloor depth: -104.252435 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.36; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.04; MB_Bottom_Detect_Filter_Max_Range = 100.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.790257 meters # Minimum depth: 103.981687 meters looking forward 50.000000 meters along route # Maximum depth: 104.183993 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 78.981687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.559302; longitude = -121.203590; captureRadius = 10; duration = 124; initialDepth = 78.400859; finalDepth = 78.981687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.202306 # Actual altitude: 25.202306 # Commanded vehicle depth: 78.981687 # Seafloor depth: -104.183993 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.81; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.08; MB_Bottom_Detect_Filter_Max_Range = 100.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.790182 meters # Minimum depth: 103.400859 meters looking forward 50.000000 meters along route # Maximum depth: 103.969307 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 78.400859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.559704; longitude = -121.203260; captureRadius = 10; duration = 124; initialDepth = 77.478574; finalDepth = 78.400859; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.568448 # Actual altitude: 25.568448 # Commanded vehicle depth: 78.400859 # Seafloor depth: -103.969307 # behavior reson { duration = RESON_DURATION; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 102.27; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 102.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 102.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.801770 meters # Minimum depth: 102.478574 meters looking forward 50.000000 meters along route # Maximum depth: 103.379058 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.478574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.560107; longitude = -121.202929; captureRadius = 10; duration = 117; initialDepth = 77.380859; finalDepth = 77.478574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 25.900484 # Actual altitude: 25.900484 # Commanded vehicle depth: 77.478574 # Seafloor depth: -103.379058 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 250.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 103.60; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.36; MB_Bottom_Detect_Filter_Max_Range = 103.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 103.60; 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 = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 25.900484 # Sonar parameter altitude: 25.900484 # Commanded vehicle depth: 77.380859 # Seafloor depth: -102.380859 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 250.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 103.60; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.36; MB_Bottom_Detect_Filter_Max_Range = 103.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 103.60; 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: 102.380859 meters looking forward 50.000000 meters along route # Maximum depth: 103.308883 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 264.218946 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.380859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.560487; longitude = -121.202617; captureRadius = 10; duration = 600; initialDepth = 77.380859; finalDepth = 77.380859; maxCrossTrackError = MAXCROSSTRACKERROR; speed = 1.5000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 212.844295; pitch = DESCENDPITCH; speed = 1.5000; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 212.844295; speed = 1.5000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 250.000; 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 = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################