# 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_Rodriguez_2v1.rte # Mission File: 2010_Rodriguez_2v1.cfg # Distance: 79629.399187 (m) # Estimated Time: 54729 (s) 15.203 (hr) # Abort Time: 62057 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 942 (s) # Way Points: 78 # Route Points: 748 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 75 (m) # Minimum Vehicle Altitude: 75 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 1417.97876 (m) # Abort Vehicle Depth: 1455.47876 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 576.647598 m # Spiral descent altitude: 75 m # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.053615 34.050894 -661.647598 0.000000 3 # 1 -121.063973 34.067245 -1066.093536 2050.350241 3 # 2 -121.085845 34.049211 -884.607712 4892.674955 1 # 3 -121.086494 34.046686 -867.116058 5179.090494 1 # 4 -121.088479 34.044402 -899.128098 5491.782251 1 # 5 -121.092774 34.043440 -938.526505 5902.468455 1 # 6 -121.107428 34.031507 -969.674103 7795.368136 4 # 7 -121.105912 34.029974 -974.087219 8015.627877 3 # 8 -121.062601 34.065953 -1002.354370 13665.285819 4 # 9 -121.060977 34.064691 -919.383911 13870.397671 3 # 10 -121.104143 34.028471 -936.632812 19529.582453 4 # 11 -121.102231 34.026818 -929.326431 19784.136524 3 # 12 -121.059209 34.063278 -818.606018 25452.979966 4 # 13 -121.057152 34.062196 -812.119919 25677.623185 3 # 14 -121.110857 34.016658 -1124.325928 32756.275767 4 # 15 -121.106778 34.016989 -1117.718750 33134.814609 3 # 16 -121.089021 34.032228 -948.291275 35489.954712 4 # 17 -121.087722 34.030335 -940.754913 35731.780777 3 # 18 -121.103422 34.016899 -1149.682678 37811.112748 4 # 19 -121.101906 34.015366 -1177.262054 38031.387805 3 # 20 -121.086061 34.029102 -931.874771 40143.970134 4 # 21 -121.084582 34.027720 -919.904968 40349.288203 3 # 22 -121.112805 34.002862 -1225.455688 44143.782126 4 # 23 -121.113780 34.004756 -1171.833191 44372.357546 3 # 24 -121.107716 34.009986 -1207.802246 45178.773238 4 # 25 -121.110026 34.010767 -1205.184601 45409.065576 3 # 26 -121.114791 34.006709 -1164.698303 46038.620502 4 # 27 -121.116306 34.008062 -1261.578918 46243.821493 3 # 28 -121.111506 34.012150 -1194.152405 46878.010671 4 # 29 -121.112517 34.013833 -1184.149139 47086.743380 3 # 30 -121.117461 34.009625 -1262.801239 47739.742617 4 # 31 -121.118255 34.011488 -1253.652802 47959.015191 3 # 32 -121.112733 34.015997 -1161.914490 48673.361660 3 # 33 -121.111217 34.001479 -1241.462738 50289.771943 3 # 34 -121.083174 34.026187 -926.045807 54060.785963 4 # 35 -121.080684 34.025555 -911.238144 54301.198857 3 # 36 -121.107753 34.002110 -1199.765991 57908.738175 3 # 37 -121.102844 33.997271 -1376.900208 58611.419498 3 # 38 -121.104143 33.994025 -1414.252563 58990.940013 1 # 39 -121.104071 33.988855 -1386.179260 59564.433924 4 # 40 -121.106020 33.988494 -1411.835876 59748.909894 3 # 41 -121.106020 33.993995 -1414.184021 60359.079190 1 # 42 -121.104576 33.997632 -1380.444641 60783.980863 4 # 43 -121.106020 33.998143 -1385.261230 60928.926493 3 # 44 -121.107716 33.994205 -1410.493286 61392.981554 1 # 45 -121.107644 33.988134 -1411.166260 62066.407485 4 # 46 -121.109268 33.988314 -1397.629608 62217.779992 3 # 47 -121.108835 33.992642 -1410.167328 62699.503923 1 # 48 -121.109124 33.995017 -1411.409119 62964.287680 1 # 49 -121.107500 33.997812 -1396.825623 63308.705199 3 # 50 -121.110748 33.996910 -1401.236328 63625.013003 1 # 51 -121.114033 33.998774 -1322.525970 63992.231964 3 # 52 -121.108799 34.000968 -1265.368164 64533.549620 1 # 53 -121.100354 34.004034 -1035.343048 65384.600564 1 # 54 -121.094218 34.007611 -1260.663574 66076.488468 4 # 55 -121.098874 34.007250 -1188.647064 66508.446310 3 # 56 -121.078590 34.024774 -911.201187 69208.162273 3 # 57 -121.073754 34.027088 -801.366730 69723.294347 1 # 58 -121.069098 34.027359 -817.573380 70154.346104 1 # 59 -121.065417 34.026638 -768.088135 70503.584656 1 # 60 -121.062998 34.024594 -794.892593 70821.886934 1 # 61 -121.058018 34.024684 -790.896500 71281.936455 1 # 62 -121.053578 34.026217 -813.205215 71725.860205 1 # 63 -121.047659 34.026818 -823.028763 72276.565276 1 # 64 -121.041668 34.028110 -813.096939 72848.124054 1 # 65 -121.039972 34.032048 -798.554031 73312.172631 1 # 66 -121.043545 34.038991 -802.911270 74150.019098 1 # 67 -121.039286 34.043350 -879.633377 74773.280451 3 # 68 -121.033367 34.042057 -1038.965240 75338.340085 1 # 69 -121.027592 34.039833 -1212.504578 75925.907324 1 # 70 -121.021565 34.036917 -1360.479370 76569.630895 1 # 71 -121.016656 34.035234 -1463.148804 77059.896390 4 # 72 -121.017956 34.034062 -1455.478760 77236.852945 3 # 73 -121.023045 34.035955 -1346.393127 77751.588478 1 # 74 -121.028386 34.038540 -1203.830200 78322.098357 1 # 75 -121.032032 34.039833 -1107.274811 78688.057230 1 # 76 -121.038095 34.041546 -929.769882 79279.287619 1 # 77 -121.041885 34.041456 -785.398544 79629.399187 4 # # A total of 748 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61200; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1417.978760; abortDepth = 1455.478760; minAltitude = 75.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1800; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 143.399848 meters # Minimum depth: 785.398544 meters looking forward 100.000000 meters along route # Maximum depth: 844.391765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 710.398544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041456; longitude = -121.041885; captureRadius = 10; duration = 286; # abortOnTimeout = True; initialDepth = 772.692425; finalDepth = 710.398544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 710.398544 # Seafloor depth: -785.398544 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.022987 meters # Minimum depth: 847.692425 meters looking forward 100.000000 meters along route # Maximum depth: 880.495119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 772.692425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041493; longitude = -121.040333; captureRadius = 10; duration = 200; initialDepth = 808.642441; finalDepth = 772.692425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 772.692425 # Seafloor depth: -847.692425 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 106.688733 meters # Minimum depth: 883.642441 meters looking forward 100.000000 meters along route # Maximum depth: 925.814556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 808.642441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041519; longitude = -121.039250; captureRadius = 10; duration = 213; initialDepth = 854.769882; finalDepth = 808.642441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 808.642441 # Seafloor depth: -883.642441 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 176.306228 meters # Minimum depth: 929.769882 meters looking forward 100.000000 meters along route # Maximum depth: 974.528535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 854.769882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041546; longitude = -121.038095; captureRadius = 10; duration = 352; # abortOnTimeout = True; initialDepth = 895.777818; finalDepth = 854.769882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 854.769882 # Seafloor depth: -929.769882 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 101.735053 meters # Minimum depth: 970.777818 meters looking forward 100.000000 meters along route # Maximum depth: 1017.540969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 895.777818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041035; longitude = -121.036287; captureRadius = 10; duration = 203; initialDepth = 943.217651; finalDepth = 895.777818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 895.777818 # Seafloor depth: -970.777818 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 105.585010 meters # Minimum depth: 1025.778705 meters looking forward 100.000000 meters along route # Maximum depth: 1051.911697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 943.217651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040740; longitude = -121.035244; captureRadius = 10; duration = 211; initialDepth = 979.893328; finalDepth = 943.217651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.5610536051648 # Actual altitude: 82.5610536051648 # Commanded vehicle depth: 943.217651394835 # Seafloor depth: -1025.778705 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.02; MB_Bottom_Detect_Filter_Max_Range = 330.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 105.585397 meters # Minimum depth: 1054.893328 meters looking forward 100.000000 meters along route # Maximum depth: 1078.663065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 979.893328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040434; longitude = -121.034161; captureRadius = 10; duration = 211; initialDepth = 1004.034455; finalDepth = 979.893328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.5610536051648 # Actual altitude: 82.5610536051648 # Commanded vehicle depth: 979.893328 # Seafloor depth: -1054.893328 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.02; MB_Bottom_Detect_Filter_Max_Range = 330.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 102.018701 meters # Minimum depth: 1079.034455 meters looking forward 100.000000 meters along route # Maximum depth: 1105.427852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1004.034455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040129; longitude = -121.033078; captureRadius = 10; duration = 204; initialDepth = 1032.274811; finalDepth = 1004.034455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1004.034455 # Seafloor depth: -1079.034455 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 155.822447 meters # Minimum depth: 1107.274811 meters looking forward 100.000000 meters along route # Maximum depth: 1152.203701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1032.274811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039833; longitude = -121.032032; captureRadius = 10; duration = 311; # abortOnTimeout = True; initialDepth = 1079.621377; finalDepth = 1032.274811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1032.274811 # Seafloor depth: -1107.274811 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 108.679751 meters # Minimum depth: 1154.621377 meters looking forward 100.000000 meters along route # Maximum depth: 1176.478784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1079.621377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039282; longitude = -121.030480; captureRadius = 10; duration = 217; initialDepth = 1102.997153; finalDepth = 1079.621377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1079.621377 # Seafloor depth: -1154.621377 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 101.456675 meters # Minimum depth: 1177.997153 meters looking forward 100.000000 meters along route # Maximum depth: 1202.958330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1102.997153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038898; longitude = -121.029397; captureRadius = 10; duration = 202; initialDepth = 1128.830200; finalDepth = 1102.997153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1102.997153 # Seafloor depth: -1177.997153 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 158.040370 meters # Minimum depth: 1203.830200 meters looking forward 100.000000 meters along route # Maximum depth: 1240.871687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1128.830200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038540; longitude = -121.028386; captureRadius = 10; duration = 316; # abortOnTimeout = True; initialDepth = 1168.237387; finalDepth = 1128.830200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1128.8302 # Seafloor depth: -1203.830200 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 107.221948 meters # Minimum depth: 1243.237387 meters looking forward 100.000000 meters along route # Maximum depth: 1272.875153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1168.237387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037824; longitude = -121.026906; captureRadius = 10; duration = 214; initialDepth = 1198.850915; finalDepth = 1168.237387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1168.237387 # Seafloor depth: -1243.237387 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 100.961029 meters # Minimum depth: 1273.850915 meters looking forward 100.000000 meters along route # Maximum depth: 1297.200936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1198.850915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037338; longitude = -121.025903; captureRadius = 10; duration = 201; initialDepth = 1222.442112; finalDepth = 1198.850915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1198.850915 # Seafloor depth: -1273.850915 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 104.092195 meters # Minimum depth: 1297.442112 meters looking forward 100.000000 meters along route # Maximum depth: 1321.910340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1222.442112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036881; longitude = -121.024957; captureRadius = 10; duration = 208; initialDepth = 1248.623030; finalDepth = 1222.442112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1222.442112 # Seafloor depth: -1297.442112 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 100.194337 meters # Minimum depth: 1323.623030 meters looking forward 100.000000 meters along route # Maximum depth: 1344.588915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1248.623030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036409; longitude = -121.023983; captureRadius = 10; duration = 200; initialDepth = 1269.350432; finalDepth = 1248.623030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1248.62303 # Seafloor depth: -1323.623030 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 89.788197 meters # Minimum depth: 1344.350432 meters looking forward 100.000000 meters along route # Maximum depth: 1362.495289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1269.350432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035955; longitude = -121.023045; captureRadius = 10; duration = 179; # abortOnTimeout = True; initialDepth = 1289.327423; finalDepth = 1269.350432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.0426950000001 # Actual altitude: 77.0426950000001 # Commanded vehicle depth: 1269.350432 # Seafloor depth: -1346.393127 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.82; MB_Bottom_Detect_Filter_Max_Range = 308.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.081974 meters # Minimum depth: 1364.327423 meters looking forward 100.000000 meters along route # Maximum depth: 1386.966315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1289.327423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035625; longitude = -121.022157; captureRadius = 10; duration = 200; initialDepth = 1312.364977; finalDepth = 1289.327423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.0426950000001 # Actual altitude: 77.0426950000001 # Commanded vehicle depth: 1289.327423 # Seafloor depth: -1364.327423 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.82; MB_Bottom_Detect_Filter_Max_Range = 308.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 73 # Segment length 109.517629 meters # Minimum depth: 1387.364977 meters looking forward 100.000000 meters along route # Maximum depth: 1412.244740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1312.364977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035257; longitude = -121.021168; captureRadius = 10; duration = 219; initialDepth = 1339.185168; finalDepth = 1312.364977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1312.364977 # Seafloor depth: -1387.364977 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 73 # Segment length 109.518108 meters # Minimum depth: 1414.185168 meters looking forward 100.000000 meters along route # Maximum depth: 1435.511532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1339.185168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034854; longitude = -121.020085; captureRadius = 10; duration = 219; initialDepth = 1360.564387; finalDepth = 1339.185168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1339.185168 # Seafloor depth: -1414.185168 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 73 # Segment length 105.829625 meters # Minimum depth: 1435.564387 meters looking forward 100.000000 meters along route # Maximum depth: 1454.222798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1360.564387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034451; longitude = -121.019002; captureRadius = 10; duration = 211; initialDepth = 1380.478760; finalDepth = 1360.564387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1360.564387 # Seafloor depth: -1435.564387 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 176.956555 meters # Minimum depth: 1455.478760 meters looking forward 100.000000 meters along route # Maximum depth: 1464.077032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1380.478760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034062; longitude = -121.017956; captureRadius = 10; duration = 353; # abortOnTimeout = True; initialDepth = 1352.437007; finalDepth = 1380.478760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1380.47876 # Seafloor depth: -1455.478760 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 169.445083 meters # Minimum depth: 1427.437007 meters looking forward 100.000000 meters along route # Maximum depth: 1463.148804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1352.437007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035234; longitude = -121.016656; captureRadius = 10; duration = 338; # abortOnTimeout = True; initialDepth = 1334.786316; finalDepth = 1352.437007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.711797 # Actual altitude: 100 # Commanded vehicle depth: 1352.437007 # Seafloor depth: -1463.148804 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 108.136227 meters # Minimum depth: 1409.786316 meters looking forward 100.000000 meters along route # Maximum depth: 1427.112316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1334.786316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035816; longitude = -121.018353; captureRadius = 10; duration = 216; initialDepth = 1309.119384; finalDepth = 1334.786316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.711797 # Actual altitude: 100 # Commanded vehicle depth: 1334.786316 # Seafloor depth: -1427.112316 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 71 # Segment length 108.135776 meters # Minimum depth: 1384.119384 meters looking forward 100.000000 meters along route # Maximum depth: 1408.232996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1309.119384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036187; longitude = -121.019435; captureRadius = 10; duration = 216; initialDepth = 1287.255363; finalDepth = 1309.119384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.1136119999999 # Actual altitude: 99.1136119999999 # Commanded vehicle depth: 1309.119384 # Seafloor depth: -1408.232996 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.65; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 71 # Segment length 104.548409 meters # Minimum depth: 1362.255363 meters looking forward 100.000000 meters along route # Maximum depth: 1382.151763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1287.255363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036558; longitude = -121.020518; captureRadius = 10; duration = 209; initialDepth = 1261.666737; finalDepth = 1287.255363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 99.1136119999999 # Actual altitude: 99.1136119999999 # Commanded vehicle depth: 1287.255363 # Seafloor depth: -1382.151763 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.65; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 119.483464 meters # Minimum depth: 1336.666737 meters looking forward 100.000000 meters along route # Maximum depth: 1360.479370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1261.666737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036917; longitude = -121.021565; captureRadius = 10; duration = 238; # abortOnTimeout = True; initialDepth = 1240.468600; finalDepth = 1261.666737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.812633 # Actual altitude: 98.812633 # Commanded vehicle depth: 1261.666737 # Seafloor depth: -1360.479370 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.53; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 104.082118 meters # Minimum depth: 1315.468600 meters looking forward 100.000000 meters along route # Maximum depth: 1334.436743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1240.468600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037458; longitude = -121.022684; captureRadius = 10; duration = 208; initialDepth = 1213.804768; finalDepth = 1240.468600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.812633 # Actual altitude: 98.812633 # Commanded vehicle depth: 1240.4686 # Seafloor depth: -1334.436743 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.53; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 104.081648 meters # Minimum depth: 1288.804768 meters looking forward 100.000000 meters along route # Maximum depth: 1313.291523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1213.804768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037930; longitude = -121.023658; captureRadius = 10; duration = 208; initialDepth = 1185.779009; finalDepth = 1213.804768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.4867550000001 # Actual altitude: 99.4867550000001 # Commanded vehicle depth: 1213.804768 # Seafloor depth: -1313.291523 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.79; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 104.081176 meters # Minimum depth: 1260.779009 meters looking forward 100.000000 meters along route # Maximum depth: 1285.762775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1185.779009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038401; longitude = -121.024633; captureRadius = 10; duration = 208; initialDepth = 1164.234067; finalDepth = 1185.779009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.9837659999998 # Actual altitude: 99.9837659999998 # Commanded vehicle depth: 1185.779009 # Seafloor depth: -1285.762775 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.99; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 104.080706 meters # Minimum depth: 1239.234067 meters looking forward 100.000000 meters along route # Maximum depth: 1260.718560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1164.234067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038873; longitude = -121.025607; captureRadius = 10; duration = 208; initialDepth = 1137.971043; finalDepth = 1164.234067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.9837659999998 # Actual altitude: 99.9837659999998 # Commanded vehicle depth: 1164.234067 # Seafloor depth: -1260.718560 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.99; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 107.914459 meters # Minimum depth: 1212.971043 meters looking forward 100.000000 meters along route # Maximum depth: 1238.282007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1137.971043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039344; longitude = -121.026582; captureRadius = 10; duration = 215; initialDepth = 1096.895053; finalDepth = 1137.971043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 100.310964 # Actual altitude: 100 # Commanded vehicle depth: 1137.971043 # Seafloor depth: -1238.282007 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 161.594298 meters # Minimum depth: 1171.895053 meters looking forward 100.000000 meters along route # Maximum depth: 1212.504578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1096.895053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039833; longitude = -121.027592; captureRadius = 10; duration = 323; # abortOnTimeout = True; initialDepth = 1059.436349; finalDepth = 1096.895053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.609525 # Actual altitude: 100 # Commanded vehicle depth: 1096.895053 # Seafloor depth: -1212.504578 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 110.163950 meters # Minimum depth: 1134.436349 meters looking forward 100.000000 meters along route # Maximum depth: 1169.032308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1059.436349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040445; longitude = -121.029180; captureRadius = 10; duration = 220; initialDepth = 1028.318737; finalDepth = 1059.436349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.609525 # Actual altitude: 100 # Commanded vehicle depth: 1059.436349 # Seafloor depth: -1169.032308 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 110.163457 meters # Minimum depth: 1103.318737 meters looking forward 100.000000 meters along route # Maximum depth: 1133.781272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1028.318737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040862; longitude = -121.030263; captureRadius = 10; duration = 220; initialDepth = 990.077644; finalDepth = 1028.318737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 109.595959 # Actual altitude: 100 # Commanded vehicle depth: 1028.318737 # Seafloor depth: -1133.781272 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 102.449106 meters # Minimum depth: 1065.077644 meters looking forward 100.000000 meters along route # Maximum depth: 1099.268140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 990.077644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041279; longitude = -121.031346; captureRadius = 10; duration = 204; initialDepth = 966.224035; finalDepth = 990.077644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 109.190496 # Actual altitude: 100 # Commanded vehicle depth: 990.077644 # Seafloor depth: -1099.268140 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 103.196428 meters # Minimum depth: 1041.224035 meters looking forward 100.000000 meters along route # Maximum depth: 1064.333919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 966.224035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041666; longitude = -121.032353; captureRadius = 10; duration = 206; initialDepth = 936.081140; finalDepth = 966.224035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 109.190496 # Actual altitude: 100 # Commanded vehicle depth: 966.224035 # Seafloor depth: -1064.333919 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 148.151232 meters # Minimum depth: 1011.081140 meters looking forward 100.000000 meters along route # Maximum depth: 1038.965240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 936.081140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042057; longitude = -121.033367; captureRadius = 10; duration = 296; # abortOnTimeout = True; initialDepth = 906.707397; finalDepth = 936.081140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.8841 # Actual altitude: 100 # Commanded vehicle depth: 936.08114 # Seafloor depth: -1038.965240 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 103.366439 meters # Minimum depth: 981.707397 meters looking forward 100.000000 meters along route # Maximum depth: 1010.648493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 906.707397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042396; longitude = -121.034919; captureRadius = 10; duration = 206; initialDepth = 878.160936; finalDepth = 906.707397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.941096 # Actual altitude: 100 # Commanded vehicle depth: 906.707397 # Seafloor depth: -1010.648493 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 103.366125 meters # Minimum depth: 953.160936 meters looking forward 100.000000 meters along route # Maximum depth: 977.527188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 878.160936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042633; longitude = -121.036002; captureRadius = 10; duration = 206; initialDepth = 844.204564; finalDepth = 878.160936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.941096 # Actual altitude: 100 # Commanded vehicle depth: 878.160936 # Seafloor depth: -977.527188 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 104.924643 meters # Minimum depth: 919.204564 meters looking forward 100.000000 meters along route # Maximum depth: 950.994479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 844.204564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042869; longitude = -121.037084; captureRadius = 10; duration = 209; initialDepth = 806.313387; finalDepth = 844.204564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 106.789915 # Actual altitude: 100 # Commanded vehicle depth: 844.204564 # Seafloor depth: -950.994479 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 105.251195 meters # Minimum depth: 881.313387 meters looking forward 100.000000 meters along route # Maximum depth: 918.621547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 806.313387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043109; longitude = -121.038183; captureRadius = 10; duration = 210; initialDepth = 796.875004; finalDepth = 806.313387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 112.30816 # Actual altitude: 100 # Commanded vehicle depth: 806.313387 # Seafloor depth: -918.621547 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 98.901559 meters # Minimum depth: 871.875004 meters looking forward 100.000000 meters along route # Maximum depth: 879.633377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 796.875004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043350; longitude = -121.039286; captureRadius = 10; duration = 197; # abortOnTimeout = True; initialDepth = 749.318344; finalDepth = 796.875004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 112.30816 # Actual altitude: 100 # Commanded vehicle depth: 796.875004 # Seafloor depth: -879.633377 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 103.145007 meters # Minimum depth: 824.318344 meters looking forward 100.000000 meters along route # Maximum depth: 868.539258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 749.318344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042658; longitude = -121.039962; captureRadius = 10; duration = 206; initialDepth = 726.402998; finalDepth = 749.318344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.220914 # Actual altitude: 100 # Commanded vehicle depth: 749.318344 # Seafloor depth: -868.539258 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 103.145318 meters # Minimum depth: 801.402998 meters looking forward 100.000000 meters along route # Maximum depth: 823.947289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 726.402998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041937; longitude = -121.040667; captureRadius = 10; duration = 206; initialDepth = 716.562368; finalDepth = 726.402998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.220914 # Actual altitude: 100 # Commanded vehicle depth: 726.402998 # Seafloor depth: -823.947289 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 103.145630 meters # Minimum depth: 791.562368 meters looking forward 100.000000 meters along route # Maximum depth: 798.822101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 716.562368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041216; longitude = -121.041372; captureRadius = 10; duration = 206; initialDepth = 715.662456; finalDepth = 716.562368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.5442909999999 # Actual altitude: 97.5442909999999 # Commanded vehicle depth: 716.562368 # Seafloor depth: -798.822101 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.02; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 109.269939 meters # Minimum depth: 790.662456 meters looking forward 100.000000 meters along route # Maximum depth: 804.940151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 715.662456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040494; longitude = -121.042076; captureRadius = 10; duration = 218; initialDepth = 728.875728; finalDepth = 715.662456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.259733 # Actual altitude: 82.259733 # Commanded vehicle depth: 715.662456 # Seafloor depth: -793.685772 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.90; MB_Bottom_Detect_Filter_Max_Range = 329.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 105.653900 meters # Minimum depth: 803.875728 meters looking forward 100.000000 meters along route # Maximum depth: 806.066893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 728.875728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039730; longitude = -121.042823; captureRadius = 10; duration = 211; initialDepth = 727.911270; finalDepth = 728.875728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.023316 # Actual altitude: 78.023316 # Commanded vehicle depth: 728.875728 # Seafloor depth: -805.012977 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.21; MB_Bottom_Detect_Filter_Max_Range = 312.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 118.516899 meters # Minimum depth: 802.911270 meters looking forward 100.000000 meters along route # Maximum depth: 822.698914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 727.911270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038991; longitude = -121.043545; captureRadius = 10; duration = 237; # abortOnTimeout = True; initialDepth = 748.656505; finalDepth = 727.911270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.137249 # Actual altitude: 76.137249 # Commanded vehicle depth: 727.91127 # Seafloor depth: -802.911270 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.45; MB_Bottom_Detect_Filter_Max_Range = 304.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 102.711492 meters # Minimum depth: 823.656505 meters looking forward 100.000000 meters along route # Maximum depth: 837.969410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 748.656505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038009; longitude = -121.043040; captureRadius = 10; duration = 205; initialDepth = 762.165920; finalDepth = 748.656505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 748.656505 # Seafloor depth: -823.656505 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 100.408470 meters # Minimum depth: 837.165920 meters looking forward 100.000000 meters along route # Maximum depth: 844.067959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 762.165920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037158; longitude = -121.042602; captureRadius = 10; duration = 200; initialDepth = 766.070899; finalDepth = 762.165920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.445385 # Actual altitude: 75.445385 # Commanded vehicle depth: 762.16592 # Seafloor depth: -837.611305 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.18; MB_Bottom_Detect_Filter_Max_Range = 301.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 101.560225 meters # Minimum depth: 841.070899 meters looking forward 100.000000 meters along route # Maximum depth: 850.819581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 766.070899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036326; longitude = -121.042173; captureRadius = 10; duration = 203; initialDepth = 761.631587; finalDepth = 766.070899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.3914129999999 # Actual altitude: 78.3914129999999 # Commanded vehicle depth: 766.070899 # Seafloor depth: -844.462312 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.36; MB_Bottom_Detect_Filter_Max_Range = 313.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 102.716912 meters # Minimum depth: 836.631587 meters looking forward 100.000000 meters along route # Maximum depth: 841.467495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 761.631587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035484; longitude = -121.041740; captureRadius = 10; duration = 205; initialDepth = 750.701724; finalDepth = 761.631587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.862265 # Actual altitude: 78.862265 # Commanded vehicle depth: 761.631587 # Seafloor depth: -840.493852 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.54; MB_Bottom_Detect_Filter_Max_Range = 315.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 100.404026 meters # Minimum depth: 825.701724 meters looking forward 100.000000 meters along route # Maximum depth: 836.456575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 750.701724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034633; longitude = -121.041302; captureRadius = 10; duration = 200; initialDepth = 735.268201; finalDepth = 750.701724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.754851 # Actual altitude: 85.754851 # Commanded vehicle depth: 750.701724 # Seafloor depth: -836.456575 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.30; MB_Bottom_Detect_Filter_Max_Range = 343.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 106.347755 meters # Minimum depth: 810.268201 meters looking forward 100.000000 meters along route # Maximum depth: 825.609913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 735.268201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033801; longitude = -121.040874; captureRadius = 10; duration = 212; initialDepth = 723.660295; finalDepth = 735.268201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.341712 # Actual altitude: 90.341712 # Commanded vehicle depth: 735.268201 # Seafloor depth: -825.609913 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.14; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 105.180688 meters # Minimum depth: 798.660295 meters looking forward 100.000000 meters along route # Maximum depth: 809.730020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 723.660295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032920; longitude = -121.040421; captureRadius = 10; duration = 210; initialDepth = 705.569453; finalDepth = 723.660295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 90.341712 # Actual altitude: 90.341712 # Commanded vehicle depth: 723.660295 # Seafloor depth: -809.730020 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.14; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 141.686986 meters # Minimum depth: 780.569453 meters looking forward 100.000000 meters along route # Maximum depth: 798.554031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 705.569453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032048; longitude = -121.039972; captureRadius = 10; duration = 283; # abortOnTimeout = True; initialDepth = 698.736149; finalDepth = 705.569453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.9845780000001 # Actual altitude: 92.9845780000001 # Commanded vehicle depth: 705.569453 # Seafloor depth: -798.554031 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.19; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 106.258709 meters # Minimum depth: 773.736149 meters looking forward 100.000000 meters along route # Maximum depth: 780.089581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 698.736149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030846; longitude = -121.040490; captureRadius = 10; duration = 212; initialDepth = 705.224189; finalDepth = 698.736149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.9845780000001 # Actual altitude: 92.9845780000001 # Commanded vehicle depth: 698.736149 # Seafloor depth: -778.559712 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.19; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 106.258807 meters # Minimum depth: 780.224189 meters looking forward 100.000000 meters along route # Maximum depth: 802.212785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 705.224189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029944; longitude = -121.040878; captureRadius = 10; duration = 212; initialDepth = 727.760838; finalDepth = 705.224189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.823563 # Actual altitude: 79.823563 # Commanded vehicle depth: 705.224189 # Seafloor depth: -780.224189 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.93; MB_Bottom_Detect_Filter_Max_Range = 319.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 109.844075 meters # Minimum depth: 802.760838 meters looking forward 100.000000 meters along route # Maximum depth: 812.436476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 727.760838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029042; longitude = -121.041267; captureRadius = 10; duration = 219; initialDepth = 732.925884; finalDepth = 727.760838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 727.760838 # Seafloor depth: -802.760838 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 151.511886 meters # Minimum depth: 807.925884 meters looking forward 100.000000 meters along route # Maximum depth: 813.096939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 732.925884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028110; longitude = -121.041668; captureRadius = 10; duration = 303; # abortOnTimeout = True; initialDepth = 729.127825; finalDepth = 732.925884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.171055 # Actual altitude: 80.171055 # Commanded vehicle depth: 732.925884 # Seafloor depth: -813.096939 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.07; MB_Bottom_Detect_Filter_Max_Range = 320.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 103.298353 meters # Minimum depth: 804.127825 meters looking forward 100.000000 meters along route # Maximum depth: 809.907488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 729.127825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027768; longitude = -121.043256; captureRadius = 10; duration = 206; initialDepth = 724.529778; finalDepth = 729.127825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.484837 # Actual altitude: 80.484837 # Commanded vehicle depth: 729.127825 # Seafloor depth: -809.612662 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.19; MB_Bottom_Detect_Filter_Max_Range = 321.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 64 # Segment length 103.298572 meters # Minimum depth: 799.529778 meters looking forward 100.000000 meters along route # Maximum depth: 803.880720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 724.529778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027534; longitude = -121.044339; captureRadius = 10; duration = 206; initialDepth = 727.172050; finalDepth = 724.529778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.484837 # Actual altitude: 80.484837 # Commanded vehicle depth: 724.529778 # Seafloor depth: -802.051976 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.19; MB_Bottom_Detect_Filter_Max_Range = 321.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 64 # Segment length 107.123913 meters # Minimum depth: 802.172050 meters looking forward 100.000000 meters along route # Maximum depth: 811.941666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 727.172050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027300; longitude = -121.045422; captureRadius = 10; duration = 214; initialDepth = 735.936363; finalDepth = 727.172050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.522198 # Actual altitude: 77.522198 # Commanded vehicle depth: 727.17205 # Seafloor depth: -802.172050 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 310.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 64 # Segment length 106.326054 meters # Minimum depth: 810.936363 meters looking forward 100.000000 meters along route # Maximum depth: 823.135922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 735.936363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027058; longitude = -121.046545; captureRadius = 10; duration = 212; initialDepth = 732.410646; finalDepth = 735.936363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.882751 # Actual altitude: 75.882751 # Commanded vehicle depth: 735.936363 # Seafloor depth: -811.819114 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.35; MB_Bottom_Detect_Filter_Max_Range = 303.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 144.427796 meters # Minimum depth: 807.410646 meters looking forward 100.000000 meters along route # Maximum depth: 823.028763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 732.410646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026818; longitude = -121.047659; captureRadius = 10; duration = 288; # abortOnTimeout = True; initialDepth = 726.260825; finalDepth = 732.410646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.618117 # Actual altitude: 90.618117 # Commanded vehicle depth: 732.410646 # Seafloor depth: -823.028763 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.25; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 100.740245 meters # Minimum depth: 801.260825 meters looking forward 100.000000 meters along route # Maximum depth: 807.724929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 726.260825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026660; longitude = -121.049211; captureRadius = 10; duration = 201; initialDepth = 725.879263; finalDepth = 726.260825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.618117 # Actual altitude: 90.618117 # Commanded vehicle depth: 726.260825 # Seafloor depth: -807.059897 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.25; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 100.740328 meters # Minimum depth: 800.879263 meters looking forward 100.000000 meters along route # Maximum depth: 809.511029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 725.879263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026550; longitude = -121.050294; captureRadius = 10; duration = 201; initialDepth = 730.574754; finalDepth = 725.879263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.799072 # Actual altitude: 80.799072 # Commanded vehicle depth: 725.879263 # Seafloor depth: -801.681664 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.32; MB_Bottom_Detect_Filter_Max_Range = 323.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 100.740412 meters # Minimum depth: 805.574754 meters looking forward 100.000000 meters along route # Maximum depth: 814.292233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 730.574754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026441; longitude = -121.051377; captureRadius = 10; duration = 201; initialDepth = 736.271680; finalDepth = 730.574754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.8024009999999 # Actual altitude: 75.8024009999999 # Commanded vehicle depth: 730.574754 # Seafloor depth: -805.632312 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.32; MB_Bottom_Detect_Filter_Max_Range = 303.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 104.056290 meters # Minimum depth: 811.271680 meters looking forward 100.000000 meters along route # Maximum depth: 814.850695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 736.271680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026331; longitude = -121.052460; captureRadius = 10; duration = 208; initialDepth = 736.974718; finalDepth = 736.271680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.2484800000001 # Actual altitude: 78.2484800000001 # Commanded vehicle depth: 736.27168 # Seafloor depth: -814.520160 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 312.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 126.345173 meters # Minimum depth: 811.974718 meters looking forward 100.000000 meters along route # Maximum depth: 818.849607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 736.974718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026217; longitude = -121.053578; captureRadius = 10; duration = 252; # abortOnTimeout = True; initialDepth = 721.579666; finalDepth = 736.974718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.2484800000001 # Actual altitude: 78.2484800000001 # Commanded vehicle depth: 736.974718 # Seafloor depth: -813.205215 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 312.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 108.257356 meters # Minimum depth: 796.579666 meters looking forward 100.000000 meters along route # Maximum depth: 811.660398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 721.579666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025781; longitude = -121.054842; captureRadius = 10; duration = 216; initialDepth = 709.300438; finalDepth = 721.579666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.080732 # Actual altitude: 90.080732 # Commanded vehicle depth: 721.579666 # Seafloor depth: -811.660398 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.03; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 108.257713 meters # Minimum depth: 784.300438 meters looking forward 100.000000 meters along route # Maximum depth: 795.433985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 709.300438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025407; longitude = -121.055924; captureRadius = 10; duration = 216; initialDepth = 708.798868; finalDepth = 709.300438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.080732 # Actual altitude: 90.080732 # Commanded vehicle depth: 709.300438 # Seafloor depth: -795.433985 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.03; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 101.063508 meters # Minimum depth: 783.798868 meters looking forward 100.000000 meters along route # Maximum depth: 790.304525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 708.798868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025033; longitude = -121.057007; captureRadius = 10; duration = 202; initialDepth = 715.896500; finalDepth = 708.798868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 86.133547 # Actual altitude: 86.133547 # Commanded vehicle depth: 708.798868 # Seafloor depth: -784.871079 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 344.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.45; MB_Bottom_Detect_Filter_Max_Range = 344.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 156.684676 meters # Minimum depth: 790.896500 meters looking forward 100.000000 meters along route # Maximum depth: 799.128407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 715.896500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024684; longitude = -121.058018; captureRadius = 10; duration = 313; # abortOnTimeout = True; initialDepth = 718.227546; finalDepth = 715.896500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.072211 # Actual altitude: 76.072211 # Commanded vehicle depth: 715.8965 # Seafloor depth: -790.896500 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.43; MB_Bottom_Detect_Filter_Max_Range = 304.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 100.024829 meters # Minimum depth: 793.227546 meters looking forward 100.000000 meters along route # Maximum depth: 800.014487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 718.227546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024653; longitude = -121.059714; captureRadius = 10; duration = 200; initialDepth = 708.720758; finalDepth = 718.227546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.231448 # Actual altitude: 81.231448 # Commanded vehicle depth: 718.227546 # Seafloor depth: -799.458994 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.49; MB_Bottom_Detect_Filter_Max_Range = 324.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 100.024808 meters # Minimum depth: 783.720758 meters looking forward 100.000000 meters along route # Maximum depth: 790.253945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 708.720758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024634; longitude = -121.060797; captureRadius = 10; duration = 200; initialDepth = 707.630500; finalDepth = 708.720758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.533187 # Actual altitude: 81.533187 # Commanded vehicle depth: 708.720758 # Seafloor depth: -790.253945 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.61; MB_Bottom_Detect_Filter_Max_Range = 326.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 103.315208 meters # Minimum depth: 782.630500 meters looking forward 100.000000 meters along route # Maximum depth: 793.897217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 707.630500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024614; longitude = -121.061880; captureRadius = 10; duration = 206; initialDepth = 711.668477; finalDepth = 707.630500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.533187 # Actual altitude: 81.533187 # Commanded vehicle depth: 707.6305 # Seafloor depth: -782.641012 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.61; MB_Bottom_Detect_Filter_Max_Range = 326.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 109.293024 meters # Minimum depth: 786.668477 meters looking forward 100.000000 meters along route # Maximum depth: 798.632573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 711.668477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024594; longitude = -121.062998; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 725.400527; finalDepth = 711.668477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.224116 # Actual altitude: 83.224116 # Commanded vehicle depth: 711.668477 # Seafloor depth: -794.892593 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 332.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 105.961706 meters # Minimum depth: 800.400527 meters looking forward 100.000000 meters along route # Maximum depth: 811.689799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 725.400527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025296; longitude = -121.063829; captureRadius = 10; duration = 211; initialDepth = 696.389222; finalDepth = 725.400527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.224116 # Actual altitude: 83.224116 # Commanded vehicle depth: 725.400527 # Seafloor depth: -800.400527 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 332.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 103.047548 meters # Minimum depth: 771.389222 meters looking forward 100.000000 meters along route # Maximum depth: 811.533450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 696.389222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025976; longitude = -121.064634; captureRadius = 10; duration = 206; initialDepth = 693.088135; finalDepth = 696.389222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 115.144228 # Actual altitude: 100 # Commanded vehicle depth: 696.389222 # Seafloor depth: -811.533450 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 147.209688 meters # Minimum depth: 768.088135 meters looking forward 100.000000 meters along route # Maximum depth: 815.281165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 693.088135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026638; longitude = -121.065417; captureRadius = 10; duration = 294; # abortOnTimeout = True; initialDepth = 744.302213; finalDepth = 693.088135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.144228 # Actual altitude: 100 # Commanded vehicle depth: 693.088135 # Seafloor depth: -768.088135 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 100.076922 meters # Minimum depth: 819.302213 meters looking forward 100.000000 meters along route # Maximum depth: 827.525477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 744.302213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026942; longitude = -121.066969; captureRadius = 10; duration = 200; initialDepth = 743.572121; finalDepth = 744.302213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 744.302213 # Seafloor depth: -819.302213 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 101.951942 meters # Minimum depth: 818.572121 meters looking forward 100.000000 meters along route # Maximum depth: 828.531006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 743.572121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027149; longitude = -121.068023; captureRadius = 10; duration = 203; initialDepth = 740.363911; finalDepth = 743.572121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 84.280397 # Actual altitude: 84.280397 # Commanded vehicle depth: 743.572121 # Seafloor depth: -827.852518 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 337.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.71; MB_Bottom_Detect_Filter_Max_Range = 337.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 123.633982 meters # Minimum depth: 815.363911 meters looking forward 100.000000 meters along route # Maximum depth: 821.152863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 740.363911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027359; longitude = -121.069098; captureRadius = 10; duration = 247; # abortOnTimeout = True; initialDepth = 732.932750; finalDepth = 740.363911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.280397 # Actual altitude: 84.280397 # Commanded vehicle depth: 740.363911 # Seafloor depth: -817.573380 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 337.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.71; MB_Bottom_Detect_Filter_Max_Range = 337.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.241821 meters # Minimum depth: 807.932750 meters looking forward 100.000000 meters along route # Maximum depth: 814.374472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 732.932750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027281; longitude = -121.070433; captureRadius = 10; duration = 200; initialDepth = 725.815719; finalDepth = 732.932750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.4417219999999 # Actual altitude: 81.4417219999999 # Commanded vehicle depth: 732.93275 # Seafloor depth: -814.374472 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.58; MB_Bottom_Detect_Filter_Max_Range = 325.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 100.241851 meters # Minimum depth: 800.815719 meters looking forward 100.000000 meters along route # Maximum depth: 812.761598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 725.815719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027218; longitude = -121.071516; captureRadius = 10; duration = 200; initialDepth = 720.301973; finalDepth = 725.815719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.6854320000001 # Actual altitude: 86.6854320000001 # Commanded vehicle depth: 725.815719 # Seafloor depth: -812.501151 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 346.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.67; MB_Bottom_Detect_Filter_Max_Range = 346.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 106.934103 meters # Minimum depth: 795.301973 meters looking forward 100.000000 meters along route # Maximum depth: 800.803335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 720.301973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027155; longitude = -121.072599; captureRadius = 10; duration = 213; initialDepth = 726.366730; finalDepth = 720.301973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 86.6854320000001 # Actual altitude: 86.6854320000001 # Commanded vehicle depth: 720.301973 # Seafloor depth: -800.386353 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 346.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.67; MB_Bottom_Detect_Filter_Max_Range = 346.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 106.969968 meters # Minimum depth: 801.366730 meters looking forward 100.000000 meters along route # Maximum depth: 833.055660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 726.366730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027088; longitude = -121.073754; captureRadius = 10; duration = 213; # abortOnTimeout = True; initialDepth = 762.210172; finalDepth = 726.366730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.08438 # Actual altitude: 80.08438 # Commanded vehicle depth: 726.36673 # Seafloor depth: -801.366730 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.03; MB_Bottom_Detect_Filter_Max_Range = 320.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 100.369238 meters # Minimum depth: 837.210172 meters looking forward 100.000000 meters along route # Maximum depth: 867.008423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 762.210172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026607; longitude = -121.074758; captureRadius = 10; duration = 200; initialDepth = 793.831505; finalDepth = 762.210172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 762.210172 # Seafloor depth: -837.210172 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.369598 meters # Minimum depth: 868.831505 meters looking forward 100.000000 meters along route # Maximum depth: 892.309893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 793.831505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026157; longitude = -121.075700; captureRadius = 10; duration = 200; initialDepth = 817.595787; finalDepth = 793.831505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 793.831505 # Seafloor depth: -868.831505 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.369957 meters # Minimum depth: 892.595787 meters looking forward 100.000000 meters along route # Maximum depth: 905.124330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 817.595787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025706; longitude = -121.076643; captureRadius = 10; duration = 200; initialDepth = 830.198976; finalDepth = 817.595787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 817.595787 # Seafloor depth: -892.595787 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 107.053313 meters # Minimum depth: 905.198976 meters looking forward 100.000000 meters along route # Maximum depth: 910.820997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 830.198976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025255; longitude = -121.077585; captureRadius = 10; duration = 214; initialDepth = 818.882229; finalDepth = 830.198976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 830.198976 # Seafloor depth: -905.198976 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 168.153027 meters # Minimum depth: 893.882229 meters looking forward 100.000000 meters along route # Maximum depth: 911.201187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 818.882229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024774; longitude = -121.078590; captureRadius = 10; duration = 336; # abortOnTimeout = True; initialDepth = 796.521238; finalDepth = 818.882229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.318958 # Actual altitude: 92.318958 # Commanded vehicle depth: 818.882229 # Seafloor depth: -911.201187 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.93; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.873893 meters # Minimum depth: 871.521238 meters looking forward 100.000000 meters along route # Maximum depth: 893.513639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 796.521238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023682; longitude = -121.079853; captureRadius = 10; duration = 201; initialDepth = 734.900935; finalDepth = 796.521238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.992401 # Actual altitude: 96.992401 # Commanded vehicle depth: 796.521238 # Seafloor depth: -893.513639 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.80; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 101.415343 meters # Minimum depth: 809.900935 meters looking forward 100.000000 meters along route # Maximum depth: 867.353885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 734.900935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023028; longitude = -121.080611; captureRadius = 10; duration = 202; initialDepth = 703.138893; finalDepth = 734.900935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 132.45295 # Actual altitude: 100 # Commanded vehicle depth: 734.900935 # Seafloor depth: -867.353885 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.333456 meters # Minimum depth: 778.138893 meters looking forward 100.000000 meters along route # Maximum depth: 809.590509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 703.138893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022369; longitude = -121.081373; captureRadius = 10; duration = 200; initialDepth = 695.127407; finalDepth = 703.138893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 132.45295 # Actual altitude: 100 # Commanded vehicle depth: 703.138893 # Seafloor depth: -809.590509 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.874905 meters # Minimum depth: 770.127407 meters looking forward 100.000000 meters along route # Maximum depth: 777.871085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 695.127407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021718; longitude = -121.082127; captureRadius = 10; duration = 201; initialDepth = 683.807855; finalDepth = 695.127407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 106.451616 # Actual altitude: 100 # Commanded vehicle depth: 695.127407 # Seafloor depth: -777.837156 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.875242 meters # Minimum depth: 758.807855 meters looking forward 100.000000 meters along route # Maximum depth: 769.683850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 683.807855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021063; longitude = -121.082885; captureRadius = 10; duration = 201; initialDepth = 685.478456; finalDepth = 683.807855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.875995 # Actual altitude: 85.875995 # Commanded vehicle depth: 683.807855 # Seafloor depth: -769.683850 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.35; MB_Bottom_Detect_Filter_Max_Range = 343.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.875580 meters # Minimum depth: 760.478456 meters looking forward 100.000000 meters along route # Maximum depth: 796.205307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 685.478456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020408; longitude = -121.083643; captureRadius = 10; duration = 201; initialDepth = 721.272423; finalDepth = 685.478456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.875995 # Actual altitude: 85.875995 # Commanded vehicle depth: 685.478456 # Seafloor depth: -760.478456 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.35; MB_Bottom_Detect_Filter_Max_Range = 343.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.875917 meters # Minimum depth: 796.272423 meters looking forward 100.000000 meters along route # Maximum depth: 848.558547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 721.272423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019754; longitude = -121.084401; captureRadius = 10; duration = 201; initialDepth = 768.311635; finalDepth = 721.272423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 721.272423 # Seafloor depth: -796.272423 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.876254 meters # Minimum depth: 849.874732 meters looking forward 100.000000 meters along route # Maximum depth: 867.074807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 768.311635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019099; longitude = -121.085159; captureRadius = 10; duration = 201; initialDepth = 785.166872; finalDepth = 768.311635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.5630972935694 # Actual altitude: 81.5630972935694 # Commanded vehicle depth: 768.311634706431 # Seafloor depth: -849.874732 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.63; MB_Bottom_Detect_Filter_Max_Range = 326.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.876592 meters # Minimum depth: 860.166872 meters looking forward 100.000000 meters along route # Maximum depth: 886.711119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 785.166872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018444; longitude = -121.085917; captureRadius = 10; duration = 201; initialDepth = 817.089242; finalDepth = 785.166872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.5630972935694 # Actual altitude: 81.5630972935694 # Commanded vehicle depth: 785.166872 # Seafloor depth: -860.166872 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.63; MB_Bottom_Detect_Filter_Max_Range = 326.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.876928 meters # Minimum depth: 892.089242 meters looking forward 100.000000 meters along route # Maximum depth: 945.651032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 817.089242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017789; longitude = -121.086675; captureRadius = 10; duration = 201; initialDepth = 864.128925; finalDepth = 817.089242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 817.089242 # Seafloor depth: -892.089242 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.877267 meters # Minimum depth: 946.216420 meters looking forward 100.000000 meters along route # Maximum depth: 960.170577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 864.128925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017134; longitude = -121.087433; captureRadius = 10; duration = 201; initialDepth = 884.559006; finalDepth = 864.128925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.0874948565428 # Actual altitude: 82.0874948565428 # Commanded vehicle depth: 864.128925143457 # Seafloor depth: -946.216420 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.83; MB_Bottom_Detect_Filter_Max_Range = 328.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.877603 meters # Minimum depth: 959.559006 meters looking forward 100.000000 meters along route # Maximum depth: 966.151970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 884.559006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016480; longitude = -121.088191; captureRadius = 10; duration = 201; initialDepth = 887.700803; finalDepth = 884.559006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.0874948565428 # Actual altitude: 82.0874948565428 # Commanded vehicle depth: 884.559006 # Seafloor depth: -959.559006 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.83; MB_Bottom_Detect_Filter_Max_Range = 328.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.877941 meters # Minimum depth: 962.700803 meters looking forward 100.000000 meters along route # Maximum depth: 966.160235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 887.700803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015825; longitude = -121.088949; captureRadius = 10; duration = 201; initialDepth = 849.277396; finalDepth = 887.700803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.459432 # Actual altitude: 78.459432 # Commanded vehicle depth: 887.700803 # Seafloor depth: -966.160235 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 313.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.878278 meters # Minimum depth: 924.277396 meters looking forward 100.000000 meters along route # Maximum depth: 959.990029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 849.277396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015170; longitude = -121.089707; captureRadius = 10; duration = 201; initialDepth = 846.474822; finalDepth = 849.277396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.712633 # Actual altitude: 100 # Commanded vehicle depth: 849.277396 # Seafloor depth: -959.990029 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.878615 meters # Minimum depth: 921.474822 meters looking forward 100.000000 meters along route # Maximum depth: 945.691212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 846.474822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014515; longitude = -121.090465; captureRadius = 10; duration = 201; initialDepth = 872.518695; finalDepth = 846.474822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.712633 # Actual altitude: 100 # Commanded vehicle depth: 846.474822 # Seafloor depth: -923.881054 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.878953 meters # Minimum depth: 947.518695 meters looking forward 100.000000 meters along route # Maximum depth: 985.734349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 872.518695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013860; longitude = -121.091222; captureRadius = 10; duration = 201; initialDepth = 916.094016; finalDepth = 872.518695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.4062319999999 # Actual altitude: 77.4062319999999 # Commanded vehicle depth: 872.518695 # Seafloor depth: -947.518695 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 309.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.879290 meters # Minimum depth: 991.094016 meters looking forward 100.000000 meters along route # Maximum depth: 1039.567376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 916.094016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013206; longitude = -121.091980; captureRadius = 10; duration = 201; initialDepth = 963.134801; finalDepth = 916.094016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 916.094016 # Seafloor depth: -991.094016 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.879627 meters # Minimum depth: 1046.395223 meters looking forward 100.000000 meters along route # Maximum depth: 1102.769652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 963.134801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012551; longitude = -121.092738; captureRadius = 10; duration = 201; initialDepth = 1010.175742; finalDepth = 963.134801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.2604224378759 # Actual altitude: 83.2604224378759 # Commanded vehicle depth: 963.134800562124 # Seafloor depth: -1046.395223 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 333.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.30; MB_Bottom_Detect_Filter_Max_Range = 333.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.879965 meters # Minimum depth: 1104.338670 meters looking forward 100.000000 meters along route # Maximum depth: 1150.611397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1010.175742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011896; longitude = -121.093496; captureRadius = 10; duration = 201; initialDepth = 1057.216842; finalDepth = 1010.175742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.1629277300719 # Actual altitude: 94.1629277300719 # Commanded vehicle depth: 1010.17574226993 # Seafloor depth: -1104.338670 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.67; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.880302 meters # Minimum depth: 1153.217627 meters looking forward 100.000000 meters along route # Maximum depth: 1204.132814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1057.216842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011241; longitude = -121.094254; captureRadius = 10; duration = 201; initialDepth = 1104.258098; finalDepth = 1057.216842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.0007854102832 # Actual altitude: 96.0007854102832 # Commanded vehicle depth: 1057.21684158972 # Seafloor depth: -1153.217627 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.40; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.880639 meters # Minimum depth: 1207.893231 meters looking forward 100.000000 meters along route # Maximum depth: 1224.792133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1104.258098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010586; longitude = -121.095012; captureRadius = 10; duration = 201; initialDepth = 1151.299512; finalDepth = 1104.258098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.635132944815 # Actual altitude: 100 # Commanded vehicle depth: 1104.25809805519 # Seafloor depth: -1207.893231 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.880977 meters # Minimum depth: 1226.523155 meters looking forward 100.000000 meters along route # Maximum depth: 1233.579180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1151.299512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009932; longitude = -121.095770; captureRadius = 10; duration = 201; initialDepth = 1158.890178; finalDepth = 1151.299512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.635132944815 # Actual altitude: 100 # Commanded vehicle depth: 1151.29951166633 # Seafloor depth: -1226.523155 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.881314 meters # Minimum depth: 1233.890178 meters looking forward 100.000000 meters along route # Maximum depth: 1236.765225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1158.890178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009277; longitude = -121.096528; captureRadius = 10; duration = 201; initialDepth = 1140.740180; finalDepth = 1158.890178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2236433336727 # Actual altitude: 75.2236433336727 # Commanded vehicle depth: 1158.890178 # Seafloor depth: -1233.914855 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 300.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 104.818702 meters # Minimum depth: 1215.740180 meters looking forward 100.000000 meters along route # Maximum depth: 1234.285786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1140.740180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008622; longitude = -121.097286; captureRadius = 10; duration = 209; initialDepth = 1116.963557; finalDepth = 1140.740180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.2539810000001 # Actual altitude: 93.2539810000001 # Commanded vehicle depth: 1140.74018 # Seafloor depth: -1233.994161 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.30; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 106.559353 meters # Minimum depth: 1191.963557 meters looking forward 100.000000 meters along route # Maximum depth: 1214.844022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1116.963557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007942; longitude = -121.098073; captureRadius = 10; duration = 213; initialDepth = 1110.864799; finalDepth = 1116.963557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 97.880465 # Actual altitude: 97.880465 # Commanded vehicle depth: 1116.963557 # Seafloor depth: -1214.844022 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.15; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 127.244589 meters # Minimum depth: 1185.864799 meters looking forward 100.000000 meters along route # Maximum depth: 1191.205605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1110.864799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007250; longitude = -121.098874; captureRadius = 10; duration = 254; # abortOnTimeout = True; initialDepth = 1119.300091; finalDepth = 1110.864799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.880465 # Actual altitude: 97.880465 # Commanded vehicle depth: 1110.864799 # Seafloor depth: -1188.647064 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.15; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 100.452566 meters # Minimum depth: 1194.300091 meters looking forward 100.000000 meters along route # Maximum depth: 1207.141619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1119.300091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007356; longitude = -121.097502; captureRadius = 10; duration = 200; initialDepth = 1129.703045; finalDepth = 1119.300091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.7822650000001 # Actual altitude: 77.7822650000001 # Commanded vehicle depth: 1119.300091 # Seafloor depth: -1194.300091 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.11; MB_Bottom_Detect_Filter_Max_Range = 311.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.452512 meters # Minimum depth: 1204.703045 meters looking forward 100.000000 meters along route # Maximum depth: 1226.428231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1129.703045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007440; longitude = -121.096420; captureRadius = 10; duration = 200; initialDepth = 1153.464875; finalDepth = 1129.703045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.80764 # Actual altitude: 76.80764 # Commanded vehicle depth: 1129.703045 # Seafloor depth: -1206.510685 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 307.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 103.808175 meters # Minimum depth: 1228.464875 meters looking forward 100.000000 meters along route # Maximum depth: 1261.245774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1153.464875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007524; longitude = -121.095337; captureRadius = 10; duration = 207; initialDepth = 1090.407662; finalDepth = 1153.464875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 76.80764 # Actual altitude: 76.80764 # Commanded vehicle depth: 1153.464875 # Seafloor depth: -1228.464875 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 307.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 162.795023 meters # Minimum depth: 1165.407662 meters looking forward 100.000000 meters along route # Maximum depth: 1260.663574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1090.407662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007611; longitude = -121.094218; captureRadius = 10; duration = 325; # abortOnTimeout = True; initialDepth = 1053.807513; finalDepth = 1090.407662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 170.255912 # Actual altitude: 100 # Commanded vehicle depth: 1090.407662 # Seafloor depth: -1260.663574 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 104.641825 meters # Minimum depth: 1128.807513 meters looking forward 100.000000 meters along route # Maximum depth: 1165.400104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1053.807513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006769; longitude = -121.095662; captureRadius = 10; duration = 209; initialDepth = 1037.120669; finalDepth = 1053.807513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 170.255912 # Actual altitude: 100 # Commanded vehicle depth: 1053.807513 # Seafloor depth: -1165.400104 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 104.651286 meters # Minimum depth: 1112.120669 meters looking forward 100.000000 meters along route # Maximum depth: 1130.206235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1037.120669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006228; longitude = -121.096590; captureRadius = 10; duration = 209; initialDepth = 1004.859045; finalDepth = 1037.120669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.592591 # Actual altitude: 100 # Commanded vehicle depth: 1037.120669 # Seafloor depth: -1129.317702 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 108.142684 meters # Minimum depth: 1079.859045 meters looking forward 100.000000 meters along route # Maximum depth: 1111.271533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1004.859045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005687; longitude = -121.097518; captureRadius = 10; duration = 216; initialDepth = 969.493749; finalDepth = 1004.859045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 106.412488 # Actual altitude: 100 # Commanded vehicle depth: 1004.859045 # Seafloor depth: -1111.271533 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 109.882488 meters # Minimum depth: 1044.493749 meters looking forward 100.000000 meters along route # Maximum depth: 1077.924931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 969.493749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005128; longitude = -121.098477; captureRadius = 10; duration = 219; initialDepth = 964.248661; finalDepth = 969.493749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.431182 # Actual altitude: 100 # Commanded vehicle depth: 969.493749 # Seafloor depth: -1077.924931 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 101.774598 meters # Minimum depth: 1039.248661 meters looking forward 100.000000 meters along route # Maximum depth: 1054.107806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 964.248661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004560; longitude = -121.099451; captureRadius = 10; duration = 203; initialDepth = 958.221577; finalDepth = 964.248661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 108.431182 # Actual altitude: 100 # Commanded vehicle depth: 964.248661 # Seafloor depth: -1051.310858 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 141.792662 meters # Minimum depth: 1033.221577 meters looking forward 100.000000 meters along route # Maximum depth: 1047.081424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 958.221577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004034; longitude = -121.100354; captureRadius = 10; duration = 283; # abortOnTimeout = True; initialDepth = 973.733172; finalDepth = 958.221577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.062197 # Actual altitude: 87.062197 # Commanded vehicle depth: 958.221577 # Seafloor depth: -1035.343048 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 348.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.82; MB_Bottom_Detect_Filter_Max_Range = 348.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.119148 meters # Minimum depth: 1048.733172 meters looking forward 100.000000 meters along route # Maximum depth: 1070.826540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 973.733172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003523; longitude = -121.101761; captureRadius = 10; duration = 200; initialDepth = 994.962309; finalDepth = 973.733172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1214709999999 # Actual altitude: 77.1214709999999 # Commanded vehicle depth: 973.733172 # Seafloor depth: -1048.733172 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.85; MB_Bottom_Detect_Filter_Max_Range = 308.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.119464 meters # Minimum depth: 1069.962309 meters looking forward 100.000000 meters along route # Maximum depth: 1080.541919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 994.962309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003162; longitude = -121.102755; captureRadius = 10; duration = 200; initialDepth = 1009.343361; finalDepth = 994.962309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5749820000001 # Actual altitude: 76.5749820000001 # Commanded vehicle depth: 994.962309 # Seafloor depth: -1071.537291 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 306.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.119779 meters # Minimum depth: 1084.343361 meters looking forward 100.000000 meters along route # Maximum depth: 1119.947780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1009.343361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002802; longitude = -121.103748; captureRadius = 10; duration = 200; initialDepth = 1046.127447; finalDepth = 1009.343361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5749820000001 # Actual altitude: 76.5749820000001 # Commanded vehicle depth: 1009.343361 # Seafloor depth: -1084.343361 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 306.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.120094 meters # Minimum depth: 1121.127447 meters looking forward 100.000000 meters along route # Maximum depth: 1158.986723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1046.127447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002441; longitude = -121.104742; captureRadius = 10; duration = 200; initialDepth = 1084.012594; finalDepth = 1046.127447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1046.127447 # Seafloor depth: -1121.127447 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.120410 meters # Minimum depth: 1159.012594 meters looking forward 100.000000 meters along route # Maximum depth: 1197.294140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1084.012594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002080; longitude = -121.105735; captureRadius = 10; duration = 200; initialDepth = 1123.135126; finalDepth = 1084.012594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1084.012594 # Seafloor depth: -1159.012594 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 106.842636 meters # Minimum depth: 1198.135126 meters looking forward 100.000000 meters along route # Maximum depth: 1229.005330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1123.135126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001720; longitude = -121.106728; captureRadius = 10; duration = 213; initialDepth = 1157.899309; finalDepth = 1123.135126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1123.135126 # Seafloor depth: -1198.135126 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 101.816751 meters # Minimum depth: 1232.899309 meters looking forward 100.000000 meters along route # Maximum depth: 1264.822012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1157.899309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001335; longitude = -121.107789; captureRadius = 10; duration = 203; initialDepth = 1190.368164; finalDepth = 1157.899309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1157.899309 # Seafloor depth: -1232.899309 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 130.672339 meters # Minimum depth: 1265.368164 meters looking forward 100.000000 meters along route # Maximum depth: 1284.589356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1190.368164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000968; longitude = -121.108799; captureRadius = 10; duration = 261; # abortOnTimeout = True; initialDepth = 1189.361028; finalDepth = 1190.368164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1190.368164 # Seafloor depth: -1265.368164 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 100.784146 meters # Minimum depth: 1264.361028 meters looking forward 100.000000 meters along route # Maximum depth: 1284.760725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1189.361028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000438; longitude = -121.110062; captureRadius = 10; duration = 201; initialDepth = 1181.043703; finalDepth = 1189.361028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.3189889999999 # Actual altitude: 95.3189889999999 # Commanded vehicle depth: 1189.361028 # Seafloor depth: -1284.680017 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.13; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 100.784490 meters # Minimum depth: 1256.043703 meters looking forward 100.000000 meters along route # Maximum depth: 1263.246736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1181.043703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000030; longitude = -121.111037; captureRadius = 10; duration = 201; initialDepth = 1187.855516; finalDepth = 1181.043703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.3189889999999 # Actual altitude: 95.3189889999999 # Commanded vehicle depth: 1181.043703 # Seafloor depth: -1259.340616 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.13; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 105.237859 meters # Minimum depth: 1262.855516 meters looking forward 100.000000 meters along route # Maximum depth: 1276.154540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1187.855516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999621; longitude = -121.112011; captureRadius = 10; duration = 210; initialDepth = 1204.168866; finalDepth = 1187.855516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.2969129999999 # Actual altitude: 78.2969129999999 # Commanded vehicle depth: 1187.855516 # Seafloor depth: -1263.208061 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.32; MB_Bottom_Detect_Filter_Max_Range = 313.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 103.838822 meters # Minimum depth: 1279.168866 meters looking forward 100.000000 meters along route # Maximum depth: 1322.246905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1204.168866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999195; longitude = -121.113029; captureRadius = 10; duration = 207; initialDepth = 1242.657187; finalDepth = 1204.168866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75.352545 # Actual altitude: 75.352545 # Commanded vehicle depth: 1204.168866 # Seafloor depth: -1279.168866 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.14; MB_Bottom_Detect_Filter_Max_Range = 301.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.41; 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 51 # Segment length 153.358675 meters # Minimum depth: 1317.657187 meters looking forward 100.000000 meters along route # Maximum depth: 1325.397903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1242.657187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998774; longitude = -121.114033; captureRadius = 10; duration = 306; # abortOnTimeout = True; initialDepth = 1240.518655; finalDepth = 1242.657187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.8687829999999 # Actual altitude: 79.8687829999999 # Commanded vehicle depth: 1242.657187 # Seafloor depth: -1322.525970 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.95; MB_Bottom_Detect_Filter_Max_Range = 319.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 108.934451 meters # Minimum depth: 1315.518655 meters looking forward 100.000000 meters along route # Maximum depth: 1352.069338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1240.518655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997996; longitude = -121.112661; captureRadius = 10; duration = 217; initialDepth = 1281.688125; finalDepth = 1240.518655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.8687829999999 # Actual altitude: 79.8687829999999 # Commanded vehicle depth: 1240.518655 # Seafloor depth: -1316.684387 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.95; MB_Bottom_Detect_Filter_Max_Range = 319.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 104.925835 meters # Minimum depth: 1356.688125 meters looking forward 100.000000 meters along route # Maximum depth: 1401.367856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1281.688125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997443; longitude = -121.111687; captureRadius = 10; duration = 209; initialDepth = 1326.183972; finalDepth = 1281.688125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.1657319999999 # Actual altitude: 76.1657319999999 # Commanded vehicle depth: 1281.688125 # Seafloor depth: -1356.688125 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.47; MB_Bottom_Detect_Filter_Max_Range = 304.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 108.938025 meters # Minimum depth: 1401.183972 meters looking forward 100.000000 meters along route # Maximum depth: 1403.395935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1326.183972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996910; longitude = -121.110748; captureRadius = 10; duration = 217; # abortOnTimeout = True; initialDepth = 1325.797456; finalDepth = 1326.183972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0523559999999 # Actual altitude: 75.0523559999999 # Commanded vehicle depth: 1326.183972 # Seafloor depth: -1401.236328 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.02; MB_Bottom_Detect_Filter_Max_Range = 300.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 105.445100 meters # Minimum depth: 1400.797456 meters looking forward 100.000000 meters along route # Maximum depth: 1402.713008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1325.797456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997221; longitude = -121.109629; captureRadius = 10; duration = 210; initialDepth = 1321.914699; finalDepth = 1325.797456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0924399999999 # Actual altitude: 75.0924399999999 # Commanded vehicle depth: 1325.797456 # Seafloor depth: -1400.889896 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 300.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.924679 meters # Minimum depth: 1396.914699 meters looking forward 100.000000 meters along route # Maximum depth: 1402.756662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1321.914699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997521; longitude = -121.108547; captureRadius = 10; duration = 203; initialDepth = 1321.825623; finalDepth = 1321.914699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 79.430218 # Actual altitude: 79.430218 # Commanded vehicle depth: 1321.914699 # Seafloor depth: -1401.344917 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.77; MB_Bottom_Detect_Filter_Max_Range = 317.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.72; 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 49 # Segment length 140.722158 meters # Minimum depth: 1396.825623 meters looking forward 100.000000 meters along route # Maximum depth: 1405.146339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1321.825623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997812; longitude = -121.107500; captureRadius = 10; duration = 281; # abortOnTimeout = True; initialDepth = 1330.514186; finalDepth = 1321.825623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.430218 # Actual altitude: 79.430218 # Commanded vehicle depth: 1321.825623 # Seafloor depth: -1396.825623 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.77; MB_Bottom_Detect_Filter_Max_Range = 317.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 100.005294 meters # Minimum depth: 1405.514186 meters looking forward 100.000000 meters along route # Maximum depth: 1407.498778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1330.514186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996670; longitude = -121.108164; captureRadius = 10; duration = 200; initialDepth = 1333.255144; finalDepth = 1330.514186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0137249999998 # Actual altitude: 75.0137249999998 # Commanded vehicle depth: 1330.514186 # Seafloor depth: -1405.527911 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 300.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 103.690067 meters # Minimum depth: 1408.255144 meters looking forward 100.000000 meters along route # Maximum depth: 1412.090740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1333.255144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995858; longitude = -121.108635; captureRadius = 10; duration = 207; initialDepth = 1334.125971; finalDepth = 1333.255144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.0137249999998 # Actual altitude: 75.0137249999998 # Commanded vehicle depth: 1333.255144 # Seafloor depth: -1408.255144 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 300.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 157.517708 meters # Minimum depth: 1409.125971 meters looking forward 100.000000 meters along route # Maximum depth: 1411.409119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1334.125971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995017; longitude = -121.109124; captureRadius = 10; duration = 315; # abortOnTimeout = True; initialDepth = 1335.348996; finalDepth = 1334.125971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.283148 # Actual altitude: 77.283148 # Commanded vehicle depth: 1334.125971 # Seafloor depth: -1411.409119 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.91; MB_Bottom_Detect_Filter_Max_Range = 309.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 107.266049 meters # Minimum depth: 1410.348996 meters looking forward 100.000000 meters along route # Maximum depth: 1412.006768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1335.348996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993604; longitude = -121.108952; captureRadius = 10; duration = 214; initialDepth = 1326.434689; finalDepth = 1335.348996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.283148 # Actual altitude: 77.283148 # Commanded vehicle depth: 1335.348996 # Seafloor depth: -1410.534929 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.91; MB_Bottom_Detect_Filter_Max_Range = 309.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 173.936501 meters # Minimum depth: 1401.434689 meters looking forward 100.000000 meters along route # Maximum depth: 1410.167328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1326.434689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992642; longitude = -121.108835; captureRadius = 10; duration = 347; # abortOnTimeout = True; initialDepth = 1321.817292; finalDepth = 1326.434689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.7326390000001 # Actual altitude: 83.7326390000001 # Commanded vehicle depth: 1326.434689 # Seafloor depth: -1410.167328 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.49; MB_Bottom_Detect_Filter_Max_Range = 334.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 100.366301 meters # Minimum depth: 1396.817292 meters looking forward 100.000000 meters along route # Maximum depth: 1402.506683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1321.817292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991079; longitude = -121.108991; captureRadius = 10; duration = 200; initialDepth = 1319.079900; finalDepth = 1321.817292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.7326390000001 # Actual altitude: 83.7326390000001 # Commanded vehicle depth: 1321.817292 # Seafloor depth: -1401.068934 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.49; MB_Bottom_Detect_Filter_Max_Range = 334.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 100.366290 meters # Minimum depth: 1394.079900 meters looking forward 100.000000 meters along route # Maximum depth: 1395.802006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1319.079900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990178; longitude = -121.109082; captureRadius = 10; duration = 200; initialDepth = 1318.935350; finalDepth = 1319.079900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.2516419999999 # Actual altitude: 79.2516419999999 # Commanded vehicle depth: 1319.0799 # Seafloor depth: -1395.324988 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 317.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 107.054839 meters # Minimum depth: 1393.935350 meters looking forward 100.000000 meters along route # Maximum depth: 1397.074231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1318.935350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989276; longitude = -121.109172; captureRadius = 10; duration = 214; initialDepth = 1322.629608; finalDepth = 1318.935350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 76.2450880000001 # Actual altitude: 76.2450880000001 # Commanded vehicle depth: 1318.93535 # Seafloor depth: -1393.935350 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 304.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.98; 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 46 # Segment length 151.372507 meters # Minimum depth: 1397.629608 meters looking forward 100.000000 meters along route # Maximum depth: 1411.776327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1322.629608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988314; longitude = -121.109268; captureRadius = 10; duration = 302; # abortOnTimeout = True; initialDepth = 1336.166260; finalDepth = 1322.629608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1322.629608 # Seafloor depth: -1397.629608 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 166.666584 meters # Minimum depth: 1411.166260 meters looking forward 100.000000 meters along route # Maximum depth: 1415.344278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1336.166260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988134; longitude = -121.107644; captureRadius = 10; duration = 333; # abortOnTimeout = True; initialDepth = 1338.982337; finalDepth = 1336.166260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1336.16626 # Seafloor depth: -1411.166260 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 100.024520 meters # Minimum depth: 1413.982337 meters looking forward 100.000000 meters along route # Maximum depth: 1416.498055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1338.982337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989637; longitude = -121.107662; captureRadius = 10; duration = 200; initialDepth = 1339.776737; finalDepth = 1338.982337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.005459 # Actual altitude: 76.005459 # Commanded vehicle depth: 1338.982337 # Seafloor depth: -1414.987796 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 304.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.024533 meters # Minimum depth: 1414.776737 meters looking forward 100.000000 meters along route # Maximum depth: 1415.337017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1339.776737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990538; longitude = -121.107673; captureRadius = 10; duration = 200; initialDepth = 1336.435557; finalDepth = 1339.776737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.005459 # Actual altitude: 76.005459 # Commanded vehicle depth: 1339.776737 # Seafloor depth: -1414.776737 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 304.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.024546 meters # Minimum depth: 1411.435557 meters looking forward 100.000000 meters along route # Maximum depth: 1415.178336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1336.435557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991440; longitude = -121.107683; captureRadius = 10; duration = 200; initialDepth = 1336.374957; finalDepth = 1336.435557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.7427789999999 # Actual altitude: 78.7427789999999 # Commanded vehicle depth: 1336.435557 # Seafloor depth: -1415.178336 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.50; MB_Bottom_Detect_Filter_Max_Range = 314.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.024560 meters # Minimum depth: 1411.374957 meters looking forward 100.000000 meters along route # Maximum depth: 1413.099646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1336.374957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992342; longitude = -121.107694; captureRadius = 10; duration = 200; initialDepth = 1335.788890; finalDepth = 1336.374957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.7427789999999 # Actual altitude: 78.7427789999999 # Commanded vehicle depth: 1336.374957 # Seafloor depth: -1411.374957 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.50; MB_Bottom_Detect_Filter_Max_Range = 314.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.661188 meters # Minimum depth: 1410.788890 meters looking forward 100.000000 meters along route # Maximum depth: 1411.925321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1335.788890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993243; longitude = -121.107705; captureRadius = 10; duration = 213; initialDepth = 1333.077293; finalDepth = 1335.788890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.1364309999999 # Actual altitude: 76.1364309999999 # Commanded vehicle depth: 1335.78889 # Seafloor depth: -1411.925321 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.45; MB_Bottom_Detect_Filter_Max_Range = 304.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 141.714169 meters # Minimum depth: 1408.077293 meters looking forward 100.000000 meters along route # Maximum depth: 1410.935234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1333.077293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994205; longitude = -121.107716; captureRadius = 10; duration = 283; # abortOnTimeout = True; initialDepth = 1326.863031; finalDepth = 1333.077293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.4159929999998 # Actual altitude: 77.4159929999998 # Commanded vehicle depth: 1333.077293 # Seafloor depth: -1410.493286 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.97; MB_Bottom_Detect_Filter_Max_Range = 309.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 106.260262 meters # Minimum depth: 1401.863031 meters looking forward 100.000000 meters along route # Maximum depth: 1407.295523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1326.863031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995408; longitude = -121.107198; captureRadius = 10; duration = 212; initialDepth = 1321.692554; finalDepth = 1326.863031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.4324919999999 # Actual altitude: 80.4324919999999 # Commanded vehicle depth: 1326.863031 # Seafloor depth: -1407.295523 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.17; MB_Bottom_Detect_Filter_Max_Range = 321.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 106.260164 meters # Minimum depth: 1396.692554 meters looking forward 100.000000 meters along route # Maximum depth: 1401.824709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1321.692554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996309; longitude = -121.106810; captureRadius = 10; duration = 212; initialDepth = 1311.688650; finalDepth = 1321.692554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.4324919999999 # Actual altitude: 80.4324919999999 # Commanded vehicle depth: 1321.692554 # Seafloor depth: -1401.824709 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.17; MB_Bottom_Detect_Filter_Max_Range = 321.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 109.820466 meters # Minimum depth: 1386.688650 meters looking forward 100.000000 meters along route # Maximum depth: 1396.486927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1311.688650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997211; longitude = -121.106421; captureRadius = 10; duration = 219; initialDepth = 1305.622896; finalDepth = 1311.688650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 84.7982769999999 # Actual altitude: 84.7982769999999 # Commanded vehicle depth: 1311.68865 # Seafloor depth: -1396.486927 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 339.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.92; MB_Bottom_Detect_Filter_Max_Range = 339.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 144.945630 meters # Minimum depth: 1380.622896 meters looking forward 100.000000 meters along route # Maximum depth: 1385.589295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1305.622896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998143; longitude = -121.106020; captureRadius = 10; duration = 289; # abortOnTimeout = True; initialDepth = 1305.444641; finalDepth = 1305.622896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 84.7982769999999 # Actual altitude: 84.7982769999999 # Commanded vehicle depth: 1305.622896 # Seafloor depth: -1385.261230 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 339.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.92; MB_Bottom_Detect_Filter_Max_Range = 339.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 116.966540 meters # Minimum depth: 1380.444641 meters looking forward 100.000000 meters along route # Maximum depth: 1389.487899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1305.444641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997632; longitude = -121.104576; captureRadius = 10; duration = 233; # abortOnTimeout = True; initialDepth = 1313.860134; finalDepth = 1305.444641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.638334 # Actual altitude: 79.638334 # Commanded vehicle depth: 1305.444641 # Seafloor depth: -1380.444641 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.86; MB_Bottom_Detect_Filter_Max_Range = 318.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 100.766385 meters # Minimum depth: 1388.860134 meters looking forward 100.000000 meters along route # Maximum depth: 1392.739447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1313.860134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996631; longitude = -121.104974; captureRadius = 10; duration = 201; initialDepth = 1316.628400; finalDepth = 1313.860134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1313.860134 # Seafloor depth: -1388.860134 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.347022 meters # Minimum depth: 1391.628400 meters looking forward 100.000000 meters along route # Maximum depth: 1409.174475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1316.628400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995768; longitude = -121.105316; captureRadius = 10; duration = 210; initialDepth = 1337.935780; finalDepth = 1316.628400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.416966 # Actual altitude: 75.416966 # Commanded vehicle depth: 1316.6284 # Seafloor depth: -1392.045366 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.17; MB_Bottom_Detect_Filter_Max_Range = 301.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 101.821726 meters # Minimum depth: 1412.935780 meters looking forward 100.000000 meters along route # Maximum depth: 1417.299341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1337.935780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994867; longitude = -121.105674; captureRadius = 10; duration = 203; initialDepth = 1338.934879; finalDepth = 1337.935780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.7738569999999 # Actual altitude: 76.7738569999999 # Commanded vehicle depth: 1337.93578 # Seafloor depth: -1414.709637 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.71; MB_Bottom_Detect_Filter_Max_Range = 307.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 103.366858 meters # Minimum depth: 1413.934879 meters looking forward 100.000000 meters along route # Maximum depth: 1416.425694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1338.934879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993995; longitude = -121.106020; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1342.074363; finalDepth = 1338.934879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.7738569999999 # Actual altitude: 76.7738569999999 # Commanded vehicle depth: 1338.934879 # Seafloor depth: -1414.184021 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.71; MB_Bottom_Detect_Filter_Max_Range = 307.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.019744 meters # Minimum depth: 1417.074363 meters looking forward 100.000000 meters along route # Maximum depth: 1418.667855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1342.074363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993063; longitude = -121.106020; captureRadius = 10; duration = 200; initialDepth = 1343.023900; finalDepth = 1342.074363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2491420000001 # Actual altitude: 75.2491420000001 # Commanded vehicle depth: 1342.074363 # Seafloor depth: -1417.074363 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 301.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.019730 meters # Minimum depth: 1418.023900 meters looking forward 100.000000 meters along route # Maximum depth: 1419.058245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1343.023900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992161; longitude = -121.106020; captureRadius = 10; duration = 200; initialDepth = 1342.661607; finalDepth = 1343.023900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1343.0239 # Seafloor depth: -1418.023900 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.019716 meters # Minimum depth: 1417.661607 meters looking forward 100.000000 meters along route # Maximum depth: 1418.609933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1342.661607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991260; longitude = -121.106020; captureRadius = 10; duration = 200; initialDepth = 1340.119430; finalDepth = 1342.661607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9285110000001 # Actual altitude: 75.9285110000001 # Commanded vehicle depth: 1342.661607 # Seafloor depth: -1418.590118 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.37; MB_Bottom_Detect_Filter_Max_Range = 303.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.019702 meters # Minimum depth: 1415.119430 meters looking forward 100.000000 meters along route # Maximum depth: 1417.824923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1340.119430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990358; longitude = -121.106020; captureRadius = 10; duration = 200; initialDepth = 1337.054992; finalDepth = 1340.119430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.7054929999999 # Actual altitude: 77.7054929999999 # Commanded vehicle depth: 1340.11943 # Seafloor depth: -1417.824923 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.08; MB_Bottom_Detect_Filter_Max_Range = 310.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 106.723546 meters # Minimum depth: 1412.054992 meters looking forward 100.000000 meters along route # Maximum depth: 1416.941872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1337.054992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989456; longitude = -121.106020; captureRadius = 10; duration = 213; initialDepth = 1335.022180; finalDepth = 1337.054992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 79.88688 # Actual altitude: 79.88688 # Commanded vehicle depth: 1337.054992 # Seafloor depth: -1416.941872 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.95; MB_Bottom_Detect_Filter_Max_Range = 319.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 78.555638 meters # Minimum depth: 1410.022180 meters looking forward 100.000000 meters along route # Maximum depth: 1413.698702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1335.022180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988494; longitude = -121.106020; captureRadius = 10; duration = 157; # abortOnTimeout = True; initialDepth = 1310.607134; finalDepth = 1335.022180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.88688 # Actual altitude: 79.88688 # Commanded vehicle depth: 1335.02218 # Seafloor depth: -1411.835876 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.95; MB_Bottom_Detect_Filter_Max_Range = 319.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 105.920332 meters # Minimum depth: 1385.607134 meters looking forward 100.000000 meters along route # Maximum depth: 1409.747409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1310.607134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988648; longitude = -121.105190; captureRadius = 10; duration = 211; initialDepth = 1303.959910; finalDepth = 1310.607134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 99.140275 # Actual altitude: 99.140275 # Commanded vehicle depth: 1310.607134 # Seafloor depth: -1409.747409 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.66; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 166.712595 meters # Minimum depth: 1378.959910 meters looking forward 100.000000 meters along route # Maximum depth: 1395.857689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1303.959910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988855; longitude = -121.104071; captureRadius = 10; duration = 333; # abortOnTimeout = True; initialDepth = 1321.910289; finalDepth = 1303.959910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.140275 # Actual altitude: 99.140275 # Commanded vehicle depth: 1303.95991 # Seafloor depth: -1386.179260 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.66; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.026522 meters # Minimum depth: 1396.910289 meters looking forward 100.000000 meters along route # Maximum depth: 1416.139885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1321.910289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990358; longitude = -121.104092; captureRadius = 10; duration = 200; initialDepth = 1342.394642; finalDepth = 1321.910289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.2193500000001 # Actual altitude: 82.2193500000001 # Commanded vehicle depth: 1321.910289 # Seafloor depth: -1396.910289 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.89; MB_Bottom_Detect_Filter_Max_Range = 328.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 100.026536 meters # Minimum depth: 1417.394642 meters looking forward 100.000000 meters along route # Maximum depth: 1424.747788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1342.394642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991260; longitude = -121.104104; captureRadius = 10; duration = 200; initialDepth = 1340.626959; finalDepth = 1342.394642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1342.394642 # Seafloor depth: -1417.394642 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 100.026548 meters # Minimum depth: 1415.626959 meters looking forward 100.000000 meters along route # Maximum depth: 1425.249602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1340.626959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992161; longitude = -121.104117; captureRadius = 10; duration = 200; initialDepth = 1332.881631; finalDepth = 1340.626959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.6226430000002 # Actual altitude: 84.6226430000002 # Commanded vehicle depth: 1340.626959 # Seafloor depth: -1425.249602 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.85; MB_Bottom_Detect_Filter_Max_Range = 338.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.701710 meters # Minimum depth: 1407.881631 meters looking forward 100.000000 meters along route # Maximum depth: 1419.605782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1332.881631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993063; longitude = -121.104130; captureRadius = 10; duration = 213; initialDepth = 1308.780156; finalDepth = 1332.881631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 84.6226430000002 # Actual altitude: 84.6226430000002 # Commanded vehicle depth: 1332.881631 # Seafloor depth: -1411.941277 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.85; MB_Bottom_Detect_Filter_Max_Range = 338.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 172.195187 meters # Minimum depth: 1383.780156 meters looking forward 100.000000 meters along route # Maximum depth: 1414.252563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1308.780156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994025; longitude = -121.104143; captureRadius = 10; duration = 344; # abortOnTimeout = True; initialDepth = 1313.331410; finalDepth = 1308.780156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 105.472407 # Actual altitude: 100 # Commanded vehicle depth: 1308.780156 # Seafloor depth: -1414.252563 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 105.429845 meters # Minimum depth: 1388.331410 meters looking forward 100.000000 meters along route # Maximum depth: 1399.164970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1313.331410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995498; longitude = -121.103554; captureRadius = 10; duration = 210; initialDepth = 1302.968180; finalDepth = 1313.331410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 105.472407 # Actual altitude: 100 # Commanded vehicle depth: 1313.33141 # Seafloor depth: -1388.331410 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 101.895483 meters # Minimum depth: 1377.968180 meters looking forward 100.000000 meters along route # Maximum depth: 1389.070269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1302.968180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996399; longitude = -121.103193; captureRadius = 10; duration = 203; initialDepth = 1273.844072; finalDepth = 1302.968180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 86.102089 # Actual altitude: 86.102089 # Commanded vehicle depth: 1302.96818 # Seafloor depth: -1389.070269 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 344.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.44; MB_Bottom_Detect_Filter_Max_Range = 344.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.41; 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 37 # Segment length 174.616072 meters # Minimum depth: 1348.844072 meters looking forward 100.000000 meters along route # Maximum depth: 1376.900208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1273.844072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997271; longitude = -121.102844; captureRadius = 10; duration = 349; # abortOnTimeout = True; initialDepth = 1245.648516; finalDepth = 1273.844072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.056136 # Actual altitude: 100 # Commanded vehicle depth: 1273.844072 # Seafloor depth: -1376.900208 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 104.754250 meters # Minimum depth: 1320.648516 meters looking forward 100.000000 meters along route # Maximum depth: 1347.098591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1245.648516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998473; longitude = -121.104064; captureRadius = 10; duration = 209; initialDepth = 1209.467496; finalDepth = 1245.648516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.056136 # Actual altitude: 100 # Commanded vehicle depth: 1245.648516 # Seafloor depth: -1347.098591 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 104.753856 meters # Minimum depth: 1284.467496 meters looking forward 100.000000 meters along route # Maximum depth: 1319.127908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1209.467496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999195; longitude = -121.104796; captureRadius = 10; duration = 209; initialDepth = 1168.689123; finalDepth = 1209.467496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 109.660412 # Actual altitude: 100 # Commanded vehicle depth: 1209.467496 # Seafloor depth: -1319.127908 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 106.683409 meters # Minimum depth: 1243.689123 meters looking forward 100.000000 meters along route # Maximum depth: 1283.351134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1168.689123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999916; longitude = -121.105528; captureRadius = 10; duration = 213; initialDepth = 1149.455233; finalDepth = 1168.689123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.662011 # Actual altitude: 100 # Commanded vehicle depth: 1168.689123 # Seafloor depth: -1283.351134 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 108.490812 meters # Minimum depth: 1224.455233 meters looking forward 100.000000 meters along route # Maximum depth: 1244.480033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1149.455233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000651; longitude = -121.106273; captureRadius = 10; duration = 216; initialDepth = 1125.901501; finalDepth = 1149.455233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.662011 # Actual altitude: 100 # Commanded vehicle depth: 1149.455233 # Seafloor depth: -1243.491442 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 103.382924 meters # Minimum depth: 1200.901501 meters looking forward 100.000000 meters along route # Maximum depth: 1223.817236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1125.901501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001398; longitude = -121.107031; captureRadius = 10; duration = 206; initialDepth = 1124.393443; finalDepth = 1125.901501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 97.915735 # Actual altitude: 97.915735 # Commanded vehicle depth: 1125.901501 # Seafloor depth: -1223.817236 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 168.416242 meters # Minimum depth: 1199.393443 meters looking forward 100.000000 meters along route # Maximum depth: 1203.955418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1124.393443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002110; longitude = -121.107753; captureRadius = 10; duration = 336; # abortOnTimeout = True; initialDepth = 1126.851053; finalDepth = 1124.393443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.915735 # Actual altitude: 97.915735 # Commanded vehicle depth: 1124.393443 # Seafloor depth: -1199.765991 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 101.016482 meters # Minimum depth: 1201.851053 meters looking forward 100.000000 meters along route # Maximum depth: 1206.195668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1126.851053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003204; longitude = -121.106489; captureRadius = 10; duration = 202; initialDepth = 1128.201207; finalDepth = 1126.851053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.3725480000001 # Actual altitude: 75.3725480000001 # Commanded vehicle depth: 1126.851053 # Seafloor depth: -1201.851053 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 301.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.016145 meters # Minimum depth: 1203.201207 meters looking forward 100.000000 meters along route # Maximum depth: 1206.284220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1128.201207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003861; longitude = -121.105731; captureRadius = 10; duration = 202; initialDepth = 1125.832969; finalDepth = 1128.201207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.059276 # Actual altitude: 78.059276 # Commanded vehicle depth: 1128.201207 # Seafloor depth: -1206.260483 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 312.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.015807 meters # Minimum depth: 1200.832969 meters looking forward 100.000000 meters along route # Maximum depth: 1204.383881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1125.832969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004517; longitude = -121.104974; captureRadius = 10; duration = 202; initialDepth = 1123.980993; finalDepth = 1125.832969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.5509119999999 # Actual altitude: 78.5509119999999 # Commanded vehicle depth: 1125.832969 # Seafloor depth: -1204.383881 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.42; MB_Bottom_Detect_Filter_Max_Range = 314.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.015468 meters # Minimum depth: 1198.980993 meters looking forward 100.000000 meters along route # Maximum depth: 1202.030765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1123.980993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005174; longitude = -121.104216; captureRadius = 10; duration = 202; initialDepth = 1121.678491; finalDepth = 1123.980993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.5509119999999 # Actual altitude: 78.5509119999999 # Commanded vehicle depth: 1123.980993 # Seafloor depth: -1202.030765 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.42; MB_Bottom_Detect_Filter_Max_Range = 314.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.015132 meters # Minimum depth: 1196.678491 meters looking forward 100.000000 meters along route # Maximum depth: 1199.646940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1121.678491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005830; longitude = -121.103458; captureRadius = 10; duration = 202; initialDepth = 1120.534312; finalDepth = 1121.678491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.0497720000001 # Actual altitude: 78.0497720000001 # Commanded vehicle depth: 1121.678491 # Seafloor depth: -1199.646940 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 312.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.014793 meters # Minimum depth: 1195.534312 meters looking forward 100.000000 meters along route # Maximum depth: 1198.207145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1120.534312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006487; longitude = -121.102700; captureRadius = 10; duration = 202; initialDepth = 1117.774742; finalDepth = 1120.534312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.9684490000002 # Actual altitude: 77.9684490000002 # Commanded vehicle depth: 1120.534312 # Seafloor depth: -1197.806192 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.19; MB_Bottom_Detect_Filter_Max_Range = 311.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.014455 meters # Minimum depth: 1192.774742 meters looking forward 100.000000 meters along route # Maximum depth: 1195.702457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1117.774742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007143; longitude = -121.101942; captureRadius = 10; duration = 202; initialDepth = 1118.539781; finalDepth = 1117.774742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8481609999999 # Actual altitude: 77.8481609999999 # Commanded vehicle depth: 1117.774742 # Seafloor depth: -1195.622903 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.14; MB_Bottom_Detect_Filter_Max_Range = 311.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.014118 meters # Minimum depth: 1193.539781 meters looking forward 100.000000 meters along route # Maximum depth: 1202.699912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1118.539781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007800; longitude = -121.101184; captureRadius = 10; duration = 202; initialDepth = 1127.594485; finalDepth = 1118.539781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8481609999999 # Actual altitude: 77.8481609999999 # Commanded vehicle depth: 1118.539781 # Seafloor depth: -1193.539781 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.14; MB_Bottom_Detect_Filter_Max_Range = 311.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.214095 meters # Minimum depth: 1202.594485 meters looking forward 100.000000 meters along route # Maximum depth: 1214.691644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1127.594485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008456; longitude = -121.100426; captureRadius = 10; duration = 202; initialDepth = 1139.719079; finalDepth = 1127.594485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1127.594485 # Seafloor depth: -1202.594485 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.813127 meters # Minimum depth: 1214.719079 meters looking forward 100.000000 meters along route # Maximum depth: 1220.269656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1139.719079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009114; longitude = -121.099666; captureRadius = 10; duration = 201; initialDepth = 1139.769932; finalDepth = 1139.719079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1139.719079 # Seafloor depth: -1214.719079 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.013104 meters # Minimum depth: 1214.769932 meters looking forward 100.000000 meters along route # Maximum depth: 1219.674638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1139.769932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009769; longitude = -121.098910; captureRadius = 10; duration = 202; initialDepth = 1130.989878; finalDepth = 1139.769932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.904706 # Actual altitude: 79.904706 # Commanded vehicle depth: 1139.769932 # Seafloor depth: -1219.674638 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.96; MB_Bottom_Detect_Filter_Max_Range = 319.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.012767 meters # Minimum depth: 1205.989878 meters looking forward 100.000000 meters along route # Maximum depth: 1217.227946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1130.989878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010426; longitude = -121.098152; captureRadius = 10; duration = 202; initialDepth = 1117.376125; finalDepth = 1130.989878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.816795 # Actual altitude: 85.816795 # Commanded vehicle depth: 1130.989878 # Seafloor depth: -1216.806673 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.33; MB_Bottom_Detect_Filter_Max_Range = 343.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.012428 meters # Minimum depth: 1192.376125 meters looking forward 100.000000 meters along route # Maximum depth: 1205.299815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1117.376125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011082; longitude = -121.097394; captureRadius = 10; duration = 202; initialDepth = 1108.493455; finalDepth = 1117.376125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.9236900000001 # Actual altitude: 87.9236900000001 # Commanded vehicle depth: 1117.376125 # Seafloor depth: -1205.299815 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.012091 meters # Minimum depth: 1183.493455 meters looking forward 100.000000 meters along route # Maximum depth: 1192.164860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1108.493455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011738; longitude = -121.096636; captureRadius = 10; duration = 202; initialDepth = 1075.199192; finalDepth = 1108.493455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.9236900000001 # Actual altitude: 87.9236900000001 # Commanded vehicle depth: 1108.493455 # Seafloor depth: -1192.164860 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.011753 meters # Minimum depth: 1150.199192 meters looking forward 100.000000 meters along route # Maximum depth: 1182.649674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1075.199192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012395; longitude = -121.095878; captureRadius = 10; duration = 202; initialDepth = 1025.150016; finalDepth = 1075.199192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.450482 # Actual altitude: 100 # Commanded vehicle depth: 1075.199192 # Seafloor depth: -1182.649674 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.766244 meters # Minimum depth: 1100.150016 meters looking forward 100.000000 meters along route # Maximum depth: 1143.241310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1025.150016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013051; longitude = -121.095120; captureRadius = 10; duration = 203; initialDepth = 984.145310; finalDepth = 1025.150016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 118.091294 # Actual altitude: 100 # Commanded vehicle depth: 1025.150016 # Seafloor depth: -1143.241310 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.256249 meters # Minimum depth: 1059.145310 meters looking forward 100.000000 meters along route # Maximum depth: 1099.871358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 984.145310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013713; longitude = -121.094357; captureRadius = 10; duration = 200; initialDepth = 945.908482; finalDepth = 984.145310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 118.091294 # Actual altitude: 100 # Commanded vehicle depth: 984.14531 # Seafloor depth: -1099.871358 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.010740 meters # Minimum depth: 1020.908482 meters looking forward 100.000000 meters along route # Maximum depth: 1057.599933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 945.908482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014364; longitude = -121.093605; captureRadius = 10; duration = 202; initialDepth = 939.950938; finalDepth = 945.908482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.726048 # Actual altitude: 100 # Commanded vehicle depth: 945.908482 # Seafloor depth: -1057.599933 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.010402 meters # Minimum depth: 1014.950938 meters looking forward 100.000000 meters along route # Maximum depth: 1019.778278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 939.950938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015021; longitude = -121.092847; captureRadius = 10; duration = 202; initialDepth = 912.144896; finalDepth = 939.950938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.691451 # Actual altitude: 100 # Commanded vehicle depth: 939.950938 # Seafloor depth: -1019.778278 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.010065 meters # Minimum depth: 987.144896 meters looking forward 100.000000 meters along route # Maximum depth: 1013.529704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 912.144896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015677; longitude = -121.092089; captureRadius = 10; duration = 202; initialDepth = 879.660419; finalDepth = 912.144896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.384808 # Actual altitude: 100 # Commanded vehicle depth: 912.144896 # Seafloor depth: -1013.529704 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.009726 meters # Minimum depth: 954.660419 meters looking forward 100.000000 meters along route # Maximum depth: 986.906348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 879.660419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016334; longitude = -121.091331; captureRadius = 10; duration = 202; initialDepth = 858.533338; finalDepth = 879.660419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.245929 # Actual altitude: 100 # Commanded vehicle depth: 879.660419 # Seafloor depth: -986.906348 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.009389 meters # Minimum depth: 933.533338 meters looking forward 100.000000 meters along route # Maximum depth: 952.836807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 858.533338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016990; longitude = -121.090573; captureRadius = 10; duration = 202; initialDepth = 869.216750; finalDepth = 858.533338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.245929 # Actual altitude: 100 # Commanded vehicle depth: 858.533338 # Seafloor depth: -952.836807 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.009051 meters # Minimum depth: 944.216750 meters looking forward 100.000000 meters along route # Maximum depth: 948.161293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 869.216750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017647; longitude = -121.089815; captureRadius = 10; duration = 202; initialDepth = 848.370552; finalDepth = 869.216750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.3034690000001 # Actual altitude: 94.3034690000001 # Commanded vehicle depth: 869.21675 # Seafloor depth: -944.216750 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.72; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.008714 meters # Minimum depth: 923.370552 meters looking forward 100.000000 meters along route # Maximum depth: 943.893761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 848.370552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018303; longitude = -121.089057; captureRadius = 10; duration = 202; initialDepth = 836.991389; finalDepth = 848.370552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.513067 # Actual altitude: 95.513067 # Commanded vehicle depth: 848.370552 # Seafloor depth: -943.883619 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.21; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.008376 meters # Minimum depth: 911.991389 meters looking forward 100.000000 meters along route # Maximum depth: 923.408799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 836.991389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018960; longitude = -121.088299; captureRadius = 10; duration = 202; initialDepth = 815.317293; finalDepth = 836.991389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.513067 # Actual altitude: 95.513067 # Commanded vehicle depth: 836.991389 # Seafloor depth: -923.408799 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.21; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.008038 meters # Minimum depth: 890.317293 meters looking forward 100.000000 meters along route # Maximum depth: 910.707877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 815.317293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019616; longitude = -121.087541; captureRadius = 10; duration = 202; initialDepth = 785.893858; finalDepth = 815.317293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.3905840000001 # Actual altitude: 95.3905840000001 # Commanded vehicle depth: 815.317293 # Seafloor depth: -910.707877 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.16; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.007700 meters # Minimum depth: 860.893858 meters looking forward 100.000000 meters along route # Maximum depth: 888.310833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 785.893858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020272; longitude = -121.086783; captureRadius = 10; duration = 202; initialDepth = 776.422801; finalDepth = 785.893858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.416975 # Actual altitude: 100 # Commanded vehicle depth: 785.893858 # Seafloor depth: -888.310833 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.007363 meters # Minimum depth: 851.422801 meters looking forward 100.000000 meters along route # Maximum depth: 860.805105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 776.422801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020929; longitude = -121.086025; captureRadius = 10; duration = 202; initialDepth = 776.388960; finalDepth = 776.422801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.416975 # Actual altitude: 100 # Commanded vehicle depth: 776.422801 # Seafloor depth: -860.805105 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.007025 meters # Minimum depth: 851.388960 meters looking forward 100.000000 meters along route # Maximum depth: 860.271807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 776.388960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021585; longitude = -121.085267; captureRadius = 10; duration = 202; initialDepth = 786.524223; finalDepth = 776.388960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.382304 # Actual altitude: 84.382304 # Commanded vehicle depth: 776.38896 # Seafloor depth: -851.388960 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 337.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.75; MB_Bottom_Detect_Filter_Max_Range = 337.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.006687 meters # Minimum depth: 861.524223 meters looking forward 100.000000 meters along route # Maximum depth: 875.929696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 786.524223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022242; longitude = -121.084509; captureRadius = 10; duration = 202; initialDepth = 802.715842; finalDepth = 786.524223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 786.524223 # Seafloor depth: -861.524223 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.006350 meters # Minimum depth: 877.715842 meters looking forward 100.000000 meters along route # Maximum depth: 896.375192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 802.715842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022898; longitude = -121.083751; captureRadius = 10; duration = 202; initialDepth = 821.922329; finalDepth = 802.715842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 802.715842 # Seafloor depth: -877.715842 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.006012 meters # Minimum depth: 896.922329 meters looking forward 100.000000 meters along route # Maximum depth: 914.802785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 821.922329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023555; longitude = -121.082993; captureRadius = 10; duration = 202; initialDepth = 839.659695; finalDepth = 821.922329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 821.922329 # Seafloor depth: -896.922329 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.089124 meters # Minimum depth: 914.659695 meters looking forward 100.000000 meters along route # Maximum depth: 917.532344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 839.659695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024211; longitude = -121.082236; captureRadius = 10; duration = 210; initialDepth = 837.260977; finalDepth = 839.659695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 839.659695 # Seafloor depth: -914.659695 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.674056 meters # Minimum depth: 912.260977 meters looking forward 100.000000 meters along route # Maximum depth: 918.411699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 837.260977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024894; longitude = -121.081447; captureRadius = 10; duration = 203; initialDepth = 836.238144; finalDepth = 837.260977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 78.526028 # Actual altitude: 78.526028 # Commanded vehicle depth: 837.260977 # Seafloor depth: -915.787005 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.41; MB_Bottom_Detect_Filter_Max_Range = 314.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.10; 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 35 # Segment length 139.347880 meters # Minimum depth: 911.238144 meters looking forward 100.000000 meters along route # Maximum depth: 921.294779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 836.238144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025555; longitude = -121.080684; captureRadius = 10; duration = 278; # abortOnTimeout = True; initialDepth = 847.939176; finalDepth = 836.238144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.526028 # Actual altitude: 78.526028 # Commanded vehicle depth: 836.238144 # Seafloor depth: -911.238144 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.41; MB_Bottom_Detect_Filter_Max_Range = 314.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.065014 meters # Minimum depth: 922.939176 meters looking forward 100.000000 meters along route # Maximum depth: 926.004921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 847.939176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025921; longitude = -121.082127; captureRadius = 10; duration = 202; initialDepth = 850.594883; finalDepth = 847.939176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 847.939176 # Seafloor depth: -922.939176 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 92.197752 meters # Minimum depth: 925.594883 meters looking forward 100.000000 meters along route # Maximum depth: 935.216699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 850.594883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026187; longitude = -121.083174; captureRadius = 10; duration = 184; # abortOnTimeout = True; initialDepth = 860.262645; finalDepth = 850.594883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.450924 # Actual altitude: 75.450924 # Commanded vehicle depth: 850.594883 # Seafloor depth: -926.045807 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.18; MB_Bottom_Detect_Filter_Max_Range = 301.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 101.915322 meters # Minimum depth: 935.262645 meters looking forward 100.000000 meters along route # Maximum depth: 941.668049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 860.262645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025583; longitude = -121.083860; captureRadius = 10; duration = 203; initialDepth = 867.524704; finalDepth = 860.262645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.450924 # Actual altitude: 75.450924 # Commanded vehicle depth: 860.262645 # Seafloor depth: -935.262645 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.18; MB_Bottom_Detect_Filter_Max_Range = 301.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.915662 meters # Minimum depth: 942.524704 meters looking forward 100.000000 meters along route # Maximum depth: 946.376999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 867.524704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024915; longitude = -121.084618; captureRadius = 10; duration = 203; initialDepth = 868.892794; finalDepth = 867.524704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 867.524704 # Seafloor depth: -942.524704 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.916002 meters # Minimum depth: 943.892794 meters looking forward 100.000000 meters along route # Maximum depth: 946.411680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 868.892794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024247; longitude = -121.085376; captureRadius = 10; duration = 203; initialDepth = 858.298827; finalDepth = 868.892794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.5188860000001 # Actual altitude: 77.5188860000001 # Commanded vehicle depth: 868.892794 # Seafloor depth: -946.411680 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 310.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.115893 meters # Minimum depth: 933.298827 meters looking forward 100.000000 meters along route # Maximum depth: 943.974622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 858.298827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023579; longitude = -121.086133; captureRadius = 10; duration = 204; initialDepth = 850.890006; finalDepth = 858.298827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.6253 # Actual altitude: 85.6253 # Commanded vehicle depth: 858.298827 # Seafloor depth: -943.924127 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 342.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.25; MB_Bottom_Detect_Filter_Max_Range = 342.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.717132 meters # Minimum depth: 925.890006 meters looking forward 100.000000 meters along route # Maximum depth: 933.260946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 850.890006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022910; longitude = -121.086893; captureRadius = 10; duration = 203; initialDepth = 834.954662; finalDepth = 850.890006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.6253 # Actual altitude: 85.6253 # Commanded vehicle depth: 850.890006 # Seafloor depth: -933.260946 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 342.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.25; MB_Bottom_Detect_Filter_Max_Range = 342.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.917023 meters # Minimum depth: 909.954662 meters looking forward 100.000000 meters along route # Maximum depth: 925.368530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 834.954662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022244; longitude = -121.087649; captureRadius = 10; duration = 203; initialDepth = 804.151859; finalDepth = 834.954662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.413868 # Actual altitude: 90.413868 # Commanded vehicle depth: 834.954662 # Seafloor depth: -925.368530 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.17; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.917363 meters # Minimum depth: 879.151859 meters looking forward 100.000000 meters along route # Maximum depth: 907.454286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 804.151859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021576; longitude = -121.088407; captureRadius = 10; duration = 203; initialDepth = 781.048115; finalDepth = 804.151859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.302427 # Actual altitude: 100 # Commanded vehicle depth: 804.151859 # Seafloor depth: -907.454286 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.917704 meters # Minimum depth: 856.048115 meters looking forward 100.000000 meters along route # Maximum depth: 878.305253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 781.048115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020908; longitude = -121.089165; captureRadius = 10; duration = 203; initialDepth = 781.087031; finalDepth = 781.048115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.302427 # Actual altitude: 100 # Commanded vehicle depth: 781.048115 # Seafloor depth: -878.305253 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.918043 meters # Minimum depth: 856.087031 meters looking forward 100.000000 meters along route # Maximum depth: 888.684306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 781.087031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020241; longitude = -121.089923; captureRadius = 10; duration = 203; initialDepth = 813.765871; finalDepth = 781.087031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.2571379999999 # Actual altitude: 97.2571379999999 # Commanded vehicle depth: 781.087031 # Seafloor depth: -856.087031 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.90; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.918384 meters # Minimum depth: 888.765871 meters looking forward 100.000000 meters along route # Maximum depth: 914.766766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 813.765871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019573; longitude = -121.090681; captureRadius = 10; duration = 203; initialDepth = 840.119086; finalDepth = 813.765871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 813.765871 # Seafloor depth: -888.765871 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.918725 meters # Minimum depth: 915.119086 meters looking forward 100.000000 meters along route # Maximum depth: 948.087421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 840.119086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018905; longitude = -121.091439; captureRadius = 10; duration = 203; initialDepth = 881.973265; finalDepth = 840.119086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 840.119086 # Seafloor depth: -915.119086 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.919065 meters # Minimum depth: 956.973265 meters looking forward 100.000000 meters along route # Maximum depth: 992.841318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 881.973265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018237; longitude = -121.092197; captureRadius = 10; duration = 203; initialDepth = 917.262082; finalDepth = 881.973265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 881.973265 # Seafloor depth: -956.973265 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.919405 meters # Minimum depth: 992.262082 meters looking forward 100.000000 meters along route # Maximum depth: 998.328623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 917.262082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017569; longitude = -121.092955; captureRadius = 10; duration = 203; initialDepth = 910.361078; finalDepth = 917.262082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.3642020000001 # Actual altitude: 75.3642020000001 # Commanded vehicle depth: 917.262082 # Seafloor depth: -992.626284 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 301.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.919745 meters # Minimum depth: 985.361078 meters looking forward 100.000000 meters along route # Maximum depth: 1006.794892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 910.361078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016902; longitude = -121.093713; captureRadius = 10; duration = 203; initialDepth = 931.862061; finalDepth = 910.361078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.219149 # Actual altitude: 82.219149 # Commanded vehicle depth: 910.361078 # Seafloor depth: -992.580227 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.89; MB_Bottom_Detect_Filter_Max_Range = 328.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.920086 meters # Minimum depth: 1006.862061 meters looking forward 100.000000 meters along route # Maximum depth: 1042.056230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 931.862061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016234; longitude = -121.094471; captureRadius = 10; duration = 203; initialDepth = 968.761294; finalDepth = 931.862061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.219149 # Actual altitude: 82.219149 # Commanded vehicle depth: 931.862061 # Seafloor depth: -1006.862061 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.89; MB_Bottom_Detect_Filter_Max_Range = 328.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.920426 meters # Minimum depth: 1043.761294 meters looking forward 100.000000 meters along route # Maximum depth: 1092.303155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 968.761294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015566; longitude = -121.095229; captureRadius = 10; duration = 203; initialDepth = 1016.287568; finalDepth = 968.761294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 968.761294 # Seafloor depth: -1043.761294 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.920766 meters # Minimum depth: 1103.365617 meters looking forward 100.000000 meters along route # Maximum depth: 1161.664529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1016.287568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014898; longitude = -121.095987; captureRadius = 10; duration = 203; initialDepth = 1063.814001; finalDepth = 1016.287568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.0780487573294 # Actual altitude: 87.0780487573294 # Commanded vehicle depth: 1016.28756824267 # Seafloor depth: -1103.365617 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 348.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.83; MB_Bottom_Detect_Filter_Max_Range = 348.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.921107 meters # Minimum depth: 1163.865115 meters looking forward 100.000000 meters along route # Maximum depth: 1178.403303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1063.814001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014230; longitude = -121.096745; captureRadius = 10; duration = 203; initialDepth = 1101.862009; finalDepth = 1063.814001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.051113970055 # Actual altitude: 100 # Commanded vehicle depth: 1063.81400102994 # Seafloor depth: -1163.865115 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.921447 meters # Minimum depth: 1176.862009 meters looking forward 100.000000 meters along route # Maximum depth: 1183.980225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1101.862009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013563; longitude = -121.097502; captureRadius = 10; duration = 203; initialDepth = 1107.763848; finalDepth = 1101.862009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.051113970055 # Actual altitude: 100 # Commanded vehicle depth: 1101.862009 # Seafloor depth: -1177.021622 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.921787 meters # Minimum depth: 1182.763848 meters looking forward 100.000000 meters along route # Maximum depth: 1190.811891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1107.763848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012895; longitude = -121.098260; captureRadius = 10; duration = 203; initialDepth = 1116.852865; finalDepth = 1107.763848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.159613 # Actual altitude: 75.159613 # Commanded vehicle depth: 1107.763848 # Seafloor depth: -1182.763848 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 300.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 103.537988 meters # Minimum depth: 1191.852865 meters looking forward 100.000000 meters along route # Maximum depth: 1196.066337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1116.852865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012227; longitude = -121.099018; captureRadius = 10; duration = 207; initialDepth = 1120.978517; finalDepth = 1116.852865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1116.852865 # Seafloor depth: -1191.852865 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.306608 meters # Minimum depth: 1195.978517 meters looking forward 100.000000 meters along route # Maximum depth: 1202.884329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1120.978517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011549; longitude = -121.099788; captureRadius = 10; duration = 200; initialDepth = 1127.243366; finalDepth = 1120.978517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1120.978517 # Seafloor depth: -1195.978517 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.922809 meters # Minimum depth: 1202.243366 meters looking forward 100.000000 meters along route # Maximum depth: 1207.438230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1127.243366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010891; longitude = -121.100534; captureRadius = 10; duration = 203; initialDepth = 1124.897031; finalDepth = 1127.243366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1127.243366 # Seafloor depth: -1202.243366 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.923148 meters # Minimum depth: 1199.897031 meters looking forward 100.000000 meters along route # Maximum depth: 1203.846266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1124.897031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010224; longitude = -121.101292; captureRadius = 10; duration = 203; initialDepth = 1121.135968; finalDepth = 1124.897031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.949235 # Actual altitude: 78.949235 # Commanded vehicle depth: 1124.897031 # Seafloor depth: -1203.846266 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.58; MB_Bottom_Detect_Filter_Max_Range = 315.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.923490 meters # Minimum depth: 1196.135968 meters looking forward 100.000000 meters along route # Maximum depth: 1199.877732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1121.135968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009556; longitude = -121.102050; captureRadius = 10; duration = 203; initialDepth = 1121.636511; finalDepth = 1121.135968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.949235 # Actual altitude: 78.949235 # Commanded vehicle depth: 1121.135968 # Seafloor depth: -1199.877732 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.58; MB_Bottom_Detect_Filter_Max_Range = 315.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 103.146700 meters # Minimum depth: 1196.636511 meters looking forward 100.000000 meters along route # Maximum depth: 1205.185932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1121.636511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008888; longitude = -121.102808; captureRadius = 10; duration = 206; initialDepth = 1127.616496; finalDepth = 1121.636511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.7417639999999 # Actual altitude: 78.7417639999999 # Commanded vehicle depth: 1121.636511 # Seafloor depth: -1196.743362 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.50; MB_Bottom_Detect_Filter_Max_Range = 314.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.701300 meters # Minimum depth: 1202.616496 meters looking forward 100.000000 meters along route # Maximum depth: 1205.241506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1127.616496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008212; longitude = -121.103575; captureRadius = 10; duration = 201; initialDepth = 1124.201354; finalDepth = 1127.616496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1471549999999 # Actual altitude: 76.1471549999999 # Commanded vehicle depth: 1127.616496 # Seafloor depth: -1203.763651 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 304.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.924510 meters # Minimum depth: 1199.201354 meters looking forward 100.000000 meters along route # Maximum depth: 1202.372776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1124.201354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007552; longitude = -121.104324; captureRadius = 10; duration = 203; initialDepth = 1126.056589; finalDepth = 1124.201354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.1714219999999 # Actual altitude: 78.1714219999999 # Commanded vehicle depth: 1124.201354 # Seafloor depth: -1202.372776 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.27; MB_Bottom_Detect_Filter_Max_Range = 312.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.924851 meters # Minimum depth: 1201.056589 meters looking forward 100.000000 meters along route # Maximum depth: 1203.218461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1126.056589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006885; longitude = -121.105082; captureRadius = 10; duration = 203; initialDepth = 1126.797668; finalDepth = 1126.056589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.1714219999999 # Actual altitude: 78.1714219999999 # Commanded vehicle depth: 1126.056589 # Seafloor depth: -1202.787115 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.27; MB_Bottom_Detect_Filter_Max_Range = 312.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.925192 meters # Minimum depth: 1201.797668 meters looking forward 100.000000 meters along route # Maximum depth: 1205.899844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1126.797668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006217; longitude = -121.105840; captureRadius = 10; duration = 203; initialDepth = 1127.251357; finalDepth = 1126.797668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.7346210000001 # Actual altitude: 76.7346210000001 # Commanded vehicle depth: 1126.797668 # Seafloor depth: -1203.532289 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 306.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.755399 meters # Minimum depth: 1202.251357 meters looking forward 100.000000 meters along route # Maximum depth: 1205.951169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1127.251357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005549; longitude = -121.106598; captureRadius = 10; duration = 205; initialDepth = 1129.775701; finalDepth = 1127.251357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.4079939999999 # Actual altitude: 77.4079939999999 # Commanded vehicle depth: 1127.251357 # Seafloor depth: -1204.659351 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 309.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.096005 meters # Minimum depth: 1204.775701 meters looking forward 100.000000 meters along route # Maximum depth: 1206.219934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1129.775701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004876; longitude = -121.107362; captureRadius = 10; duration = 202; initialDepth = 1131.198113; finalDepth = 1129.775701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.4079939999999 # Actual altitude: 77.4079939999999 # Commanded vehicle depth: 1129.775701 # Seafloor depth: -1205.982416 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 309.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.926212 meters # Minimum depth: 1206.198113 meters looking forward 100.000000 meters along route # Maximum depth: 1208.401832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1131.198113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004213; longitude = -121.108114; captureRadius = 10; duration = 203; initialDepth = 1132.002389; finalDepth = 1131.198113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.206715 # Actual altitude: 76.206715 # Commanded vehicle depth: 1131.198113 # Seafloor depth: -1206.198113 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.48; MB_Bottom_Detect_Filter_Max_Range = 304.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.926553 meters # Minimum depth: 1207.002389 meters looking forward 100.000000 meters along route # Maximum depth: 1208.490448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1132.002389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003546; longitude = -121.108871; captureRadius = 10; duration = 203; initialDepth = 1129.681861; finalDepth = 1132.002389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.2874890000001 # Actual altitude: 76.2874890000001 # Commanded vehicle depth: 1132.002389 # Seafloor depth: -1208.289878 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.51; MB_Bottom_Detect_Filter_Max_Range = 305.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 107.947673 meters # Minimum depth: 1204.681861 meters looking forward 100.000000 meters along route # Maximum depth: 1208.429609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1129.681861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002878; longitude = -121.109629; captureRadius = 10; duration = 215; initialDepth = 1133.563283; finalDepth = 1129.681861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.529655 # Actual altitude: 78.529655 # Commanded vehicle depth: 1129.681861 # Seafloor depth: -1208.211516 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.41; MB_Bottom_Detect_Filter_Max_Range = 314.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.556743 meters # Minimum depth: 1208.563283 meters looking forward 100.000000 meters along route # Maximum depth: 1239.588292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1133.563283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002171; longitude = -121.110432; captureRadius = 10; duration = 211; initialDepth = 1126.611126; finalDepth = 1133.563283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 78.529655 # Actual altitude: 78.529655 # Commanded vehicle depth: 1133.563283 # Seafloor depth: -1208.563283 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.41; MB_Bottom_Detect_Filter_Max_Range = 314.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.12; 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 33 # Segment length 107.117989 meters # Minimum depth: 1201.611126 meters looking forward 100.000000 meters along route # Maximum depth: 1241.462738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1126.611126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001479; longitude = -121.111217; captureRadius = 10; duration = 214; # abortOnTimeout = True; initialDepth = 1126.177331; finalDepth = 1126.611126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.851612 # Actual altitude: 100 # Commanded vehicle depth: 1126.611126 # Seafloor depth: -1241.462738 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.397222 meters # Minimum depth: 1201.177331 meters looking forward 100.000000 meters along route # Maximum depth: 1215.792857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1126.177331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002441; longitude = -121.111317; captureRadius = 10; duration = 200; initialDepth = 1139.758692; finalDepth = 1126.177331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.851612 # Actual altitude: 100 # Commanded vehicle depth: 1126.177331 # Seafloor depth: -1201.177331 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.397223 meters # Minimum depth: 1214.758692 meters looking forward 100.000000 meters along route # Maximum depth: 1216.859059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1139.758692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003343; longitude = -121.111412; captureRadius = 10; duration = 200; initialDepth = 1137.020877; finalDepth = 1139.758692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.6799569999998 # Actual altitude: 75.6799569999998 # Commanded vehicle depth: 1139.758692 # Seafloor depth: -1215.438649 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 302.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.397226 meters # Minimum depth: 1212.020877 meters looking forward 100.000000 meters along route # Maximum depth: 1214.592152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1137.020877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004245; longitude = -121.111506; captureRadius = 10; duration = 200; initialDepth = 1133.040634; finalDepth = 1137.020877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.571275 # Actual altitude: 77.571275 # Commanded vehicle depth: 1137.020877 # Seafloor depth: -1214.592152 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.03; MB_Bottom_Detect_Filter_Max_Range = 310.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.397228 meters # Minimum depth: 1208.040634 meters looking forward 100.000000 meters along route # Maximum depth: 1212.252028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1133.040634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005146; longitude = -121.111600; captureRadius = 10; duration = 200; initialDepth = 1121.261434; finalDepth = 1133.040634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.2113940000002 # Actual altitude: 79.2113940000002 # Commanded vehicle depth: 1133.040634 # Seafloor depth: -1212.252028 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.68; MB_Bottom_Detect_Filter_Max_Range = 316.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.397230 meters # Minimum depth: 1196.261434 meters looking forward 100.000000 meters along route # Maximum depth: 1209.076042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1121.261434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006048; longitude = -121.111694; captureRadius = 10; duration = 200; initialDepth = 1090.285361; finalDepth = 1121.261434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.65346 # Actual altitude: 87.65346 # Commanded vehicle depth: 1121.261434 # Seafloor depth: -1208.914894 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.06; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.397232 meters # Minimum depth: 1165.285361 meters looking forward 100.000000 meters along route # Maximum depth: 1194.426312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1090.285361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006950; longitude = -121.111788; captureRadius = 10; duration = 200; initialDepth = 1087.869279; finalDepth = 1090.285361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.140951 # Actual altitude: 100 # Commanded vehicle depth: 1090.285361 # Seafloor depth: -1194.426312 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.397235 meters # Minimum depth: 1162.869279 meters looking forward 100.000000 meters along route # Maximum depth: 1178.935479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1087.869279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007851; longitude = -121.111882; captureRadius = 10; duration = 200; initialDepth = 1107.171359; finalDepth = 1087.869279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.140951 # Actual altitude: 100 # Commanded vehicle depth: 1087.869279 # Seafloor depth: -1164.025950 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.397236 meters # Minimum depth: 1182.171359 meters looking forward 100.000000 meters along route # Maximum depth: 1196.294497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1107.171359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008753; longitude = -121.111977; captureRadius = 10; duration = 200; initialDepth = 1120.938098; finalDepth = 1107.171359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.156671 # Actual altitude: 76.156671 # Commanded vehicle depth: 1107.171359 # Seafloor depth: -1182.171359 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 304.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.397238 meters # Minimum depth: 1195.938098 meters looking forward 100.000000 meters along route # Maximum depth: 1198.922492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1120.938098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009655; longitude = -121.112071; captureRadius = 10; duration = 200; initialDepth = 1123.938096; finalDepth = 1120.938098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1120.938098 # Seafloor depth: -1195.938098 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.397241 meters # Minimum depth: 1198.938096 meters looking forward 100.000000 meters along route # Maximum depth: 1201.464664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1123.938096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010557; longitude = -121.112165; captureRadius = 10; duration = 200; initialDepth = 1119.115788; finalDepth = 1123.938096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1123.938096 # Seafloor depth: -1198.938096 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.397243 meters # Minimum depth: 1194.115788 meters looking forward 100.000000 meters along route # Maximum depth: 1201.112819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1119.115788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011458; longitude = -121.112259; captureRadius = 10; duration = 200; initialDepth = 1115.166060; finalDepth = 1119.115788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.9970309999999 # Actual altitude: 81.9970309999999 # Commanded vehicle depth: 1119.115788 # Seafloor depth: -1201.112819 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.80; MB_Bottom_Detect_Filter_Max_Range = 327.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.397244 meters # Minimum depth: 1190.166060 meters looking forward 100.000000 meters along route # Maximum depth: 1195.107410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1115.166060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012360; longitude = -121.112353; captureRadius = 10; duration = 200; initialDepth = 1106.087478; finalDepth = 1115.166060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.9970309999999 # Actual altitude: 81.9970309999999 # Commanded vehicle depth: 1115.16606 # Seafloor depth: -1194.870466 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.80; MB_Bottom_Detect_Filter_Max_Range = 327.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.397247 meters # Minimum depth: 1181.087478 meters looking forward 100.000000 meters along route # Maximum depth: 1189.973823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1106.087478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013262; longitude = -121.112447; captureRadius = 10; duration = 200; initialDepth = 1092.254030; finalDepth = 1106.087478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.8863450000001 # Actual altitude: 83.8863450000001 # Commanded vehicle depth: 1106.087478 # Seafloor depth: -1189.973823 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.55; MB_Bottom_Detect_Filter_Max_Range = 335.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.397249 meters # Minimum depth: 1167.254030 meters looking forward 100.000000 meters along route # Maximum depth: 1180.188056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1092.254030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014164; longitude = -121.112542; captureRadius = 10; duration = 200; initialDepth = 1086.721453; finalDepth = 1092.254030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.9340259999999 # Actual altitude: 87.9340259999999 # Commanded vehicle depth: 1092.25403 # Seafloor depth: -1180.188056 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 103.731000 meters # Minimum depth: 1161.721453 meters looking forward 100.000000 meters along route # Maximum depth: 1166.781442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1086.721453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015065; longitude = -121.112636; captureRadius = 10; duration = 207; initialDepth = 1086.615641; finalDepth = 1086.721453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 87.9340259999999 # Actual altitude: 87.9340259999999 # Commanded vehicle depth: 1086.721453 # Seafloor depth: -1166.781442 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 104.743440 meters # Minimum depth: 1161.615641 meters looking forward 100.000000 meters along route # Maximum depth: 1169.610736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1086.615641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015997; longitude = -121.112733; captureRadius = 10; duration = 209; # abortOnTimeout = True; initialDepth = 1094.851630; finalDepth = 1086.615641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.0599889999999 # Actual altitude: 80.0599889999999 # Commanded vehicle depth: 1086.615641 # Seafloor depth: -1161.914490 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 320.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.02; MB_Bottom_Detect_Filter_Max_Range = 320.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 100.000148 meters # Minimum depth: 1169.851630 meters looking forward 100.000000 meters along route # Maximum depth: 1173.779636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1094.851630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015336; longitude = -121.113543; captureRadius = 10; duration = 200; initialDepth = 1099.163464; finalDepth = 1094.851630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2988489999998 # Actual altitude: 75.2988489999998 # Commanded vehicle depth: 1094.85163 # Seafloor depth: -1169.851630 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 301.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.000489 meters # Minimum depth: 1174.163464 meters looking forward 100.000000 meters along route # Maximum depth: 1180.614230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1099.163464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014705; longitude = -121.114316; captureRadius = 10; duration = 200; initialDepth = 1107.085751; finalDepth = 1099.163464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1099.163464 # Seafloor depth: -1174.163464 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.000832 meters # Minimum depth: 1182.085751 meters looking forward 100.000000 meters along route # Maximum depth: 1205.023289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1107.085751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014073; longitude = -121.115089; captureRadius = 10; duration = 200; initialDepth = 1131.705801; finalDepth = 1107.085751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1107.085751 # Seafloor depth: -1182.085751 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.001174 meters # Minimum depth: 1206.705801 meters looking forward 100.000000 meters along route # Maximum depth: 1217.973778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1131.705801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013442; longitude = -121.115862; captureRadius = 10; duration = 200; initialDepth = 1143.288175; finalDepth = 1131.705801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1131.705801 # Seafloor depth: -1206.705801 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.260178 meters # Minimum depth: 1218.288175 meters looking forward 100.000000 meters along route # Maximum depth: 1224.496938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1143.288175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012811; longitude = -121.116635; captureRadius = 10; duration = 204; initialDepth = 1148.357852; finalDepth = 1143.288175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1143.288175 # Seafloor depth: -1218.288175 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 107.340208 meters # Minimum depth: 1223.357852 meters looking forward 100.000000 meters along route # Maximum depth: 1251.626095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1148.357852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012166; longitude = -121.117425; captureRadius = 10; duration = 214; initialDepth = 1178.652802; finalDepth = 1148.357852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1148.357852 # Seafloor depth: -1223.357852 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 109.615944 meters # Minimum depth: 1253.652802 meters looking forward 100.000000 meters along route # Maximum depth: 1264.132701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1178.652802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011488; longitude = -121.118255; captureRadius = 10; duration = 219; # abortOnTimeout = True; initialDepth = 1188.066273; finalDepth = 1178.652802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1178.652802 # Seafloor depth: -1253.652802 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.656630 meters # Minimum depth: 1263.066273 meters looking forward 100.000000 meters along route # Maximum depth: 1265.636163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1188.066273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010557; longitude = -121.117858; captureRadius = 10; duration = 219; initialDepth = 1158.111551; finalDepth = 1188.066273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75.420664 # Actual altitude: 75.420664 # Commanded vehicle depth: 1188.066273 # Seafloor depth: -1263.486937 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.17; MB_Bottom_Detect_Filter_Max_Range = 301.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 147.732732 meters # Minimum depth: 1233.111551 meters looking forward 100.000000 meters along route # Maximum depth: 1262.801239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1158.111551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009625; longitude = -121.117461; captureRadius = 10; duration = 295; # abortOnTimeout = True; initialDepth = 1152.108736; finalDepth = 1158.111551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.689688 # Actual altitude: 100 # Commanded vehicle depth: 1158.111551 # Seafloor depth: -1262.801239 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 100.107514 meters # Minimum depth: 1227.108736 meters looking forward 100.000000 meters along route # Maximum depth: 1232.902441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1152.108736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010577; longitude = -121.116342; captureRadius = 10; duration = 200; initialDepth = 1141.709514; finalDepth = 1152.108736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.689688 # Actual altitude: 100 # Commanded vehicle depth: 1152.108736 # Seafloor depth: -1232.902441 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.107179 meters # Minimum depth: 1216.709514 meters looking forward 100.000000 meters along route # Maximum depth: 1226.980408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1141.709514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011222; longitude = -121.115585; captureRadius = 10; duration = 200; initialDepth = 1128.181821; finalDepth = 1141.709514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.2513900000001 # Actual altitude: 85.2513900000001 # Commanded vehicle depth: 1141.709514 # Seafloor depth: -1226.960904 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 341.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.10; MB_Bottom_Detect_Filter_Max_Range = 341.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.106844 meters # Minimum depth: 1203.181821 meters looking forward 100.000000 meters along route # Maximum depth: 1216.043730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1128.181821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011867; longitude = -121.114827; captureRadius = 10; duration = 200; initialDepth = 1118.819061; finalDepth = 1128.181821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.8619090000002 # Actual altitude: 87.8619090000002 # Commanded vehicle depth: 1128.181821 # Seafloor depth: -1216.043730 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.14; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.323823 meters # Minimum depth: 1193.819061 meters looking forward 100.000000 meters along route # Maximum depth: 1201.906633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1118.819061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012512; longitude = -121.114069; captureRadius = 10; duration = 204; initialDepth = 1110.791189; finalDepth = 1118.819061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.8619090000002 # Actual altitude: 87.8619090000002 # Commanded vehicle depth: 1118.819061 # Seafloor depth: -1201.906633 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.14; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.621145 meters # Minimum depth: 1185.791189 meters looking forward 100.000000 meters along route # Maximum depth: 1193.704767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1110.791189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013172; longitude = -121.113294; captureRadius = 10; duration = 205; initialDepth = 1107.549076; finalDepth = 1110.791189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 83.0875720000001 # Actual altitude: 83.0875720000001 # Commanded vehicle depth: 1110.791189 # Seafloor depth: -1193.704767 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 332.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 104.385394 meters # Minimum depth: 1182.549076 meters looking forward 100.000000 meters along route # Maximum depth: 1185.284467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1107.549076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013833; longitude = -121.112517; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1107.303094; finalDepth = 1107.549076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.9135779999999 # Actual altitude: 82.9135779999999 # Commanded vehicle depth: 1107.549076 # Seafloor depth: -1184.149139 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.17; MB_Bottom_Detect_Filter_Max_Range = 331.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.347315 meters # Minimum depth: 1182.303094 meters looking forward 100.000000 meters along route # Maximum depth: 1192.799802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1107.303094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012991; longitude = -121.112011; captureRadius = 10; duration = 208; initialDepth = 1119.152405; finalDepth = 1107.303094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 76.6000630000001 # Actual altitude: 76.6000630000001 # Commanded vehicle depth: 1107.303094 # Seafloor depth: -1182.548719 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.64; MB_Bottom_Detect_Filter_Max_Range = 306.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 124.003205 meters # Minimum depth: 1194.152405 meters looking forward 100.000000 meters along route # Maximum depth: 1201.171529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1119.152405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012150; longitude = -121.111506; captureRadius = 10; duration = 248; # abortOnTimeout = True; initialDepth = 1124.045643; finalDepth = 1119.152405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2456249999998 # Actual altitude: 75.2456249999998 # Commanded vehicle depth: 1119.152405 # Seafloor depth: -1194.152405 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 300.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.139659 meters # Minimum depth: 1199.045643 meters looking forward 100.000000 meters along route # Maximum depth: 1201.482140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1124.045643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011351; longitude = -121.112445; captureRadius = 10; duration = 200; initialDepth = 1126.856397; finalDepth = 1124.045643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6274880000001 # Actual altitude: 76.6274880000001 # Commanded vehicle depth: 1124.045643 # Seafloor depth: -1200.673131 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 306.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.139994 meters # Minimum depth: 1201.856397 meters looking forward 100.000000 meters along route # Maximum depth: 1208.845308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1126.856397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010705; longitude = -121.113202; captureRadius = 10; duration = 200; initialDepth = 1135.295346; finalDepth = 1126.856397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6274880000001 # Actual altitude: 76.6274880000001 # Commanded vehicle depth: 1126.856397 # Seafloor depth: -1201.856397 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 306.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.140329 meters # Minimum depth: 1210.295346 meters looking forward 100.000000 meters along route # Maximum depth: 1224.836691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1135.295346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010060; longitude = -121.113960; captureRadius = 10; duration = 200; initialDepth = 1150.934239; finalDepth = 1135.295346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1135.295346 # Seafloor depth: -1210.295346 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.534562 meters # Minimum depth: 1225.934239 meters looking forward 100.000000 meters along route # Maximum depth: 1240.229497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1150.934239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009414; longitude = -121.114718; captureRadius = 10; duration = 205; initialDepth = 1165.913278; finalDepth = 1150.934239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1150.934239 # Seafloor depth: -1225.934239 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 107.231429 meters # Minimum depth: 1240.913278 meters looking forward 100.000000 meters along route # Maximum depth: 1259.289192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1165.913278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008753; longitude = -121.115494; captureRadius = 10; duration = 214; initialDepth = 1142.002034; finalDepth = 1165.913278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1165.913278 # Seafloor depth: -1240.913278 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 100.308021 meters # Minimum depth: 1217.002034 meters looking forward 100.000000 meters along route # Maximum depth: 1261.578918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1142.002034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008062; longitude = -121.116306; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1090.102343; finalDepth = 1142.002034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.576884 # Actual altitude: 100 # Commanded vehicle depth: 1142.002034 # Seafloor depth: -1261.578918 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.892970 meters # Minimum depth: 1165.102343 meters looking forward 100.000000 meters along route # Maximum depth: 1215.072562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1090.102343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007401; longitude = -121.115565; captureRadius = 10; duration = 209; initialDepth = 1081.046302; finalDepth = 1090.102343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 124.970219 # Actual altitude: 100 # Commanded vehicle depth: 1090.102343 # Seafloor depth: -1215.072562 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 124.043501 meters # Minimum depth: 1156.046302 meters looking forward 100.000000 meters along route # Maximum depth: 1164.698303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1081.046302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006709; longitude = -121.114791; captureRadius = 10; duration = 248; # abortOnTimeout = True; initialDepth = 1073.278641; finalDepth = 1081.046302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 124.970219 # Actual altitude: 100 # Commanded vehicle depth: 1081.046302 # Seafloor depth: -1164.698303 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.139025 meters # Minimum depth: 1148.278641 meters looking forward 100.000000 meters along route # Maximum depth: 1155.259123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1073.278641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007509; longitude = -121.113852; captureRadius = 10; duration = 200; initialDepth = 1074.146755; finalDepth = 1073.278641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.6520009999999 # Actual altitude: 83.6520009999999 # Commanded vehicle depth: 1073.278641 # Seafloor depth: -1155.259123 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.46; MB_Bottom_Detect_Filter_Max_Range = 334.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.138690 meters # Minimum depth: 1149.146755 meters looking forward 100.000000 meters along route # Maximum depth: 1180.314555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1074.146755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008154; longitude = -121.113094; captureRadius = 10; duration = 200; initialDepth = 1106.874556; finalDepth = 1074.146755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.9804819999999 # Actual altitude: 81.9804819999999 # Commanded vehicle depth: 1074.146755 # Seafloor depth: -1149.146755 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.79; MB_Bottom_Detect_Filter_Max_Range = 327.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.138355 meters # Minimum depth: 1181.874556 meters looking forward 100.000000 meters along route # Maximum depth: 1198.576614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1106.874556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008800; longitude = -121.112336; captureRadius = 10; duration = 200; initialDepth = 1125.428281; finalDepth = 1106.874556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1106.874556 # Seafloor depth: -1181.874556 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.519268 meters # Minimum depth: 1200.428281 meters looking forward 100.000000 meters along route # Maximum depth: 1207.601574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1125.428281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009445; longitude = -121.111578; captureRadius = 10; duration = 205; initialDepth = 1129.869969; finalDepth = 1125.428281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1125.428281 # Seafloor depth: -1200.428281 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.576087 meters # Minimum depth: 1204.869969 meters looking forward 100.000000 meters along route # Maximum depth: 1207.617234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1129.869969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010106; longitude = -121.110802; captureRadius = 10; duration = 205; initialDepth = 1124.417878; finalDepth = 1129.869969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 77.747265 # Actual altitude: 77.747265 # Commanded vehicle depth: 1129.869969 # Seafloor depth: -1207.617234 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 310.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.10; MB_Bottom_Detect_Filter_Max_Range = 310.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.99; 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 25 # Segment length 125.896234 meters # Minimum depth: 1199.417878 meters looking forward 100.000000 meters along route # Maximum depth: 1207.177382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1124.417878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010767; longitude = -121.110026; captureRadius = 10; duration = 251; # abortOnTimeout = True; initialDepth = 1124.692262; finalDepth = 1124.417878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.766723 # Actual altitude: 80.766723 # Commanded vehicle depth: 1124.417878 # Seafloor depth: -1205.184601 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.31; MB_Bottom_Detect_Filter_Max_Range = 323.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 104.396104 meters # Minimum depth: 1199.692262 meters looking forward 100.000000 meters along route # Maximum depth: 1207.759425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1124.692262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010340; longitude = -121.108763; captureRadius = 10; duration = 208; initialDepth = 1129.908479; finalDepth = 1124.692262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 80.766723 # Actual altitude: 80.766723 # Commanded vehicle depth: 1124.692262 # Seafloor depth: -1199.692262 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.31; MB_Bottom_Detect_Filter_Max_Range = 323.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 96.058381 meters # Minimum depth: 1204.908479 meters looking forward 100.000000 meters along route # Maximum depth: 1207.802246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1129.908479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009986; longitude = -121.107716; captureRadius = 10; duration = 192; # abortOnTimeout = True; initialDepth = 1130.896280; finalDepth = 1129.908479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.893767 # Actual altitude: 77.893767 # Commanded vehicle depth: 1129.908479 # Seafloor depth: -1207.802246 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 311.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 100.792141 meters # Minimum depth: 1205.896280 meters looking forward 100.000000 meters along route # Maximum depth: 1207.792213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1130.896280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009363; longitude = -121.108438; captureRadius = 10; duration = 201; initialDepth = 1132.366192; finalDepth = 1130.896280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.893767 # Actual altitude: 77.893767 # Commanded vehicle depth: 1130.89628 # Seafloor depth: -1205.896280 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 311.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.792478 meters # Minimum depth: 1207.366192 meters looking forward 100.000000 meters along route # Maximum depth: 1208.826565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1132.366192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008709; longitude = -121.109196; captureRadius = 10; duration = 201; initialDepth = 1129.742868; finalDepth = 1132.366192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1132.366192 # Seafloor depth: -1207.366192 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.995925 meters # Minimum depth: 1204.742868 meters looking forward 100.000000 meters along route # Maximum depth: 1208.601048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1129.742868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008056; longitude = -121.109954; captureRadius = 10; duration = 201; initialDepth = 1128.048532; finalDepth = 1129.742868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.8581799999999 # Actual altitude: 78.8581799999999 # Commanded vehicle depth: 1129.742868 # Seafloor depth: -1208.601048 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.54; MB_Bottom_Detect_Filter_Max_Range = 315.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.590044 meters # Minimum depth: 1203.048532 meters looking forward 100.000000 meters along route # Maximum depth: 1207.429192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1128.048532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007401; longitude = -121.110714; captureRadius = 10; duration = 201; initialDepth = 1125.517621; finalDepth = 1128.048532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.38066 # Actual altitude: 79.38066 # Commanded vehicle depth: 1128.048532 # Seafloor depth: -1207.429192 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.75; MB_Bottom_Detect_Filter_Max_Range = 317.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.793490 meters # Minimum depth: 1200.517621 meters looking forward 100.000000 meters along route # Maximum depth: 1204.490177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1125.517621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006748; longitude = -121.111470; captureRadius = 10; duration = 201; initialDepth = 1116.654849; finalDepth = 1125.517621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.38066 # Actual altitude: 79.38066 # Commanded vehicle depth: 1125.517621 # Seafloor depth: -1203.351955 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.75; MB_Bottom_Detect_Filter_Max_Range = 317.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 104.502073 meters # Minimum depth: 1191.654849 meters looking forward 100.000000 meters along route # Maximum depth: 1200.699226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1116.654849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006095; longitude = -121.112228; captureRadius = 10; duration = 209; initialDepth = 1099.252942; finalDepth = 1116.654849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.644442 # Actual altitude: 83.644442 # Commanded vehicle depth: 1116.654849 # Seafloor depth: -1200.299291 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.46; MB_Bottom_Detect_Filter_Max_Range = 334.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.891160 meters # Minimum depth: 1174.252942 meters looking forward 100.000000 meters along route # Maximum depth: 1191.447587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1099.252942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005417; longitude = -121.113014; captureRadius = 10; duration = 203; initialDepth = 1096.833191; finalDepth = 1099.252942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 92.194645 # Actual altitude: 92.194645 # Commanded vehicle depth: 1099.252942 # Seafloor depth: -1191.447587 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.88; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 127.017644 meters # Minimum depth: 1171.833191 meters looking forward 100.000000 meters along route # Maximum depth: 1194.593193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1096.833191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004756; longitude = -121.113780; captureRadius = 10; duration = 254; # abortOnTimeout = True; initialDepth = 1120.542623; finalDepth = 1096.833191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.194645 # Actual altitude: 92.194645 # Commanded vehicle depth: 1096.833191 # Seafloor depth: -1171.833191 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.88; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.557776 meters # Minimum depth: 1195.542623 meters looking forward 100.000000 meters along route # Maximum depth: 1223.797878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1120.542623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003704; longitude = -121.113238; captureRadius = 10; duration = 203; initialDepth = 1142.425220; finalDepth = 1120.542623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1120.542623 # Seafloor depth: -1195.542623 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 121.255108 meters # Minimum depth: 1217.425220 meters looking forward 100.000000 meters along route # Maximum depth: 1225.455688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1142.425220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002862; longitude = -121.112805; captureRadius = 10; duration = 242; # abortOnTimeout = True; initialDepth = 1137.012561; finalDepth = 1142.425220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.0304679999999 # Actual altitude: 83.0304679999999 # Commanded vehicle depth: 1142.42522 # Seafloor depth: -1225.455688 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 332.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 103.565430 meters # Minimum depth: 1212.012561 meters looking forward 100.000000 meters along route # Maximum depth: 1217.681745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1137.012561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003656; longitude = -121.111903; captureRadius = 10; duration = 207; initialDepth = 1135.066904; finalDepth = 1137.012561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.0304679999999 # Actual altitude: 83.0304679999999 # Commanded vehicle depth: 1137.012561 # Seafloor depth: -1217.369362 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 332.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.249084 meters # Minimum depth: 1210.066904 meters looking forward 100.000000 meters along route # Maximum depth: 1213.652691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1135.066904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004335; longitude = -121.111133; captureRadius = 10; duration = 200; initialDepth = 1134.899927; finalDepth = 1135.066904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.3568009999999 # Actual altitude: 80.3568009999999 # Commanded vehicle depth: 1135.066904 # Seafloor depth: -1211.885514 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.14; MB_Bottom_Detect_Filter_Max_Range = 321.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.906746 meters # Minimum depth: 1209.899927 meters looking forward 100.000000 meters along route # Maximum depth: 1210.581447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1134.899927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004991; longitude = -121.110387; captureRadius = 10; duration = 203; initialDepth = 1132.169773; finalDepth = 1134.899927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.81861 # Actual altitude: 76.81861 # Commanded vehicle depth: 1134.899927 # Seafloor depth: -1209.993911 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.73; MB_Bottom_Detect_Filter_Max_Range = 307.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.906406 meters # Minimum depth: 1207.169773 meters looking forward 100.000000 meters along route # Maximum depth: 1210.706501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1132.169773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005659; longitude = -121.109629; captureRadius = 10; duration = 203; initialDepth = 1130.216145; finalDepth = 1132.169773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.2389449999998 # Actual altitude: 78.2389449999998 # Commanded vehicle depth: 1132.169773 # Seafloor depth: -1210.408718 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 312.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.906065 meters # Minimum depth: 1205.216145 meters looking forward 100.000000 meters along route # Maximum depth: 1209.141582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1130.216145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006327; longitude = -121.108871; captureRadius = 10; duration = 203; initialDepth = 1129.284345; finalDepth = 1130.216145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.3727429999999 # Actual altitude: 78.3727429999999 # Commanded vehicle depth: 1130.216145 # Seafloor depth: -1208.588888 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 313.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.346767 meters # Minimum depth: 1204.284345 meters looking forward 100.000000 meters along route # Maximum depth: 1206.698196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1129.284345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006994; longitude = -121.108114; captureRadius = 10; duration = 206; initialDepth = 1128.373822; finalDepth = 1129.284345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.3727429999999 # Actual altitude: 78.3727429999999 # Commanded vehicle depth: 1129.284345 # Seafloor depth: -1205.042310 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 313.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.464343 meters # Minimum depth: 1203.373822 meters looking forward 100.000000 meters along route # Maximum depth: 1205.420362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1128.373822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007671; longitude = -121.107345; captureRadius = 10; duration = 200; initialDepth = 1126.677214; finalDepth = 1128.373822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.805357 # Actual altitude: 76.805357 # Commanded vehicle depth: 1128.373822 # Seafloor depth: -1205.179179 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 307.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.905044 meters # Minimum depth: 1201.677214 meters looking forward 100.000000 meters along route # Maximum depth: 1205.271966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1126.677214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008329; longitude = -121.106598; captureRadius = 10; duration = 203; initialDepth = 1127.118836; finalDepth = 1126.677214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.805357 # Actual altitude: 76.805357 # Commanded vehicle depth: 1126.677214 # Seafloor depth: -1202.971608 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 307.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.904704 meters # Minimum depth: 1202.118836 meters looking forward 100.000000 meters along route # Maximum depth: 1205.253820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1127.118836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008997; longitude = -121.105840; captureRadius = 10; duration = 203; initialDepth = 1125.001608; finalDepth = 1127.118836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.1349839999998 # Actual altitude: 78.1349839999998 # Commanded vehicle depth: 1127.118836 # Seafloor depth: -1205.253820 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.25; MB_Bottom_Detect_Filter_Max_Range = 312.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.904363 meters # Minimum depth: 1200.001608 meters looking forward 100.000000 meters along route # Maximum depth: 1202.824447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1125.001608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009664; longitude = -121.105082; captureRadius = 10; duration = 203; initialDepth = 1124.117184; finalDepth = 1125.001608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.1349839999998 # Actual altitude: 78.1349839999998 # Commanded vehicle depth: 1125.001608 # Seafloor depth: -1202.354811 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.25; MB_Bottom_Detect_Filter_Max_Range = 312.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.128110 meters # Minimum depth: 1199.117184 meters looking forward 100.000000 meters along route # Maximum depth: 1202.228192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1124.117184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010332; longitude = -121.104324; captureRadius = 10; duration = 206; initialDepth = 1121.067102; finalDepth = 1124.117184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.1110080000001 # Actual altitude: 78.1110080000001 # Commanded vehicle depth: 1124.117184 # Seafloor depth: -1202.228192 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.24; MB_Bottom_Detect_Filter_Max_Range = 312.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.679596 meters # Minimum depth: 1196.067102 meters looking forward 100.000000 meters along route # Maximum depth: 1199.545721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1121.067102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011008; longitude = -121.103557; captureRadius = 10; duration = 201; initialDepth = 1118.225516; finalDepth = 1121.067102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.1110080000001 # Actual altitude: 78.1110080000001 # Commanded vehicle depth: 1121.067102 # Seafloor depth: -1199.140839 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.24; MB_Bottom_Detect_Filter_Max_Range = 312.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.903342 meters # Minimum depth: 1193.225516 meters looking forward 100.000000 meters along route # Maximum depth: 1196.849238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1118.225516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011667; longitude = -121.102808; captureRadius = 10; duration = 203; initialDepth = 1113.095399; finalDepth = 1118.225516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.623722 # Actual altitude: 78.623722 # Commanded vehicle depth: 1118.225516 # Seafloor depth: -1196.849238 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.45; MB_Bottom_Detect_Filter_Max_Range = 314.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.903002 meters # Minimum depth: 1188.095399 meters looking forward 100.000000 meters along route # Maximum depth: 1193.278092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1113.095399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012335; longitude = -121.102050; captureRadius = 10; duration = 203; initialDepth = 1110.967527; finalDepth = 1113.095399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.8514659999998 # Actual altitude: 79.8514659999998 # Commanded vehicle depth: 1113.095399 # Seafloor depth: -1192.946865 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 319.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.902661 meters # Minimum depth: 1185.967527 meters looking forward 100.000000 meters along route # Maximum depth: 1189.442364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1110.967527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013002; longitude = -121.101292; captureRadius = 10; duration = 203; initialDepth = 1105.315893; finalDepth = 1110.967527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.8514659999998 # Actual altitude: 79.8514659999998 # Commanded vehicle depth: 1110.967527 # Seafloor depth: -1188.159948 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 319.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.909462 meters # Minimum depth: 1180.315893 meters looking forward 100.000000 meters along route # Maximum depth: 1186.653311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1105.315893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013670; longitude = -121.100534; captureRadius = 10; duration = 205; initialDepth = 1100.805522; finalDepth = 1105.315893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.2771050000001 # Actual altitude: 81.2771050000001 # Commanded vehicle depth: 1105.315893 # Seafloor depth: -1186.592998 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.51; MB_Bottom_Detect_Filter_Max_Range = 325.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.894841 meters # Minimum depth: 1175.805522 meters looking forward 100.000000 meters along route # Maximum depth: 1181.104906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1100.805522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014344; longitude = -121.099769; captureRadius = 10; duration = 201; initialDepth = 1095.119726; finalDepth = 1100.805522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.2771050000001 # Actual altitude: 81.2771050000001 # Commanded vehicle depth: 1100.805522 # Seafloor depth: -1181.104906 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.51; MB_Bottom_Detect_Filter_Max_Range = 325.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.901640 meters # Minimum depth: 1170.119726 meters looking forward 100.000000 meters along route # Maximum depth: 1176.009178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1095.119726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015005; longitude = -121.099018; captureRadius = 10; duration = 203; initialDepth = 1016.343867; finalDepth = 1095.119726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.8894520000001 # Actual altitude: 80.8894520000001 # Commanded vehicle depth: 1095.119726 # Seafloor depth: -1176.009178 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.36; MB_Bottom_Detect_Filter_Max_Range = 323.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.901300 meters # Minimum depth: 1091.343867 meters looking forward 100.000000 meters along route # Maximum depth: 1165.128698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1016.343867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015672; longitude = -121.098260; captureRadius = 10; duration = 203; initialDepth = 1006.062665; finalDepth = 1016.343867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 148.784831 # Actual altitude: 100 # Commanded vehicle depth: 1016.343867 # Seafloor depth: -1165.128698 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.900960 meters # Minimum depth: 1081.062665 meters looking forward 100.000000 meters along route # Maximum depth: 1090.530115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1006.062665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016340; longitude = -121.097502; captureRadius = 10; duration = 203; initialDepth = 982.673362; finalDepth = 1006.062665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 148.784831 # Actual altitude: 100 # Commanded vehicle depth: 1006.062665 # Seafloor depth: -1090.530115 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.690820 meters # Minimum depth: 1057.673362 meters looking forward 100.000000 meters along route # Maximum depth: 1084.971019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 982.673362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017008; longitude = -121.096745; captureRadius = 10; duration = 205; initialDepth = 962.198877; finalDepth = 982.673362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.853268 # Actual altitude: 100 # Commanded vehicle depth: 982.673362 # Seafloor depth: -1084.526630 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.110079 meters # Minimum depth: 1037.198877 meters looking forward 100.000000 meters along route # Maximum depth: 1057.483454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 962.198877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017680; longitude = -121.095981; captureRadius = 10; duration = 202; initialDepth = 933.692041; finalDepth = 962.198877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.853268 # Actual altitude: 100 # Commanded vehicle depth: 962.198877 # Seafloor depth: -1057.483454 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.899939 meters # Minimum depth: 1008.692041 meters looking forward 100.000000 meters along route # Maximum depth: 1035.947337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 933.692041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018343; longitude = -121.095229; captureRadius = 10; duration = 203; initialDepth = 883.101596; finalDepth = 933.692041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.255296 # Actual altitude: 100 # Commanded vehicle depth: 933.692041 # Seafloor depth: -1035.947337 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.899598 meters # Minimum depth: 958.101596 meters looking forward 100.000000 meters along route # Maximum depth: 1006.498055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 883.101596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019010; longitude = -121.094471; captureRadius = 10; duration = 203; initialDepth = 835.214856; finalDepth = 883.101596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 123.396459 # Actual altitude: 100 # Commanded vehicle depth: 883.101596 # Seafloor depth: -1006.498055 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.899259 meters # Minimum depth: 910.214856 meters looking forward 100.000000 meters along route # Maximum depth: 957.221272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 835.214856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019678; longitude = -121.093713; captureRadius = 10; duration = 203; initialDepth = 774.997470; finalDepth = 835.214856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 123.396459 # Actual altitude: 100 # Commanded vehicle depth: 835.214856 # Seafloor depth: -957.221272 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.472185 meters # Minimum depth: 849.997470 meters looking forward 100.000000 meters along route # Maximum depth: 904.983671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 774.997470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020345; longitude = -121.092955; captureRadius = 10; duration = 204; initialDepth = 756.937797; finalDepth = 774.997470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 129.986201 # Actual altitude: 100 # Commanded vehicle depth: 774.99747 # Seafloor depth: -904.983671 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.325310 meters # Minimum depth: 831.937797 meters looking forward 100.000000 meters along route # Maximum depth: 849.887874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 756.937797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021017; longitude = -121.092193; captureRadius = 10; duration = 202; initialDepth = 755.502575; finalDepth = 756.937797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 129.986201 # Actual altitude: 100 # Commanded vehicle depth: 756.937797 # Seafloor depth: -849.887874 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.898238 meters # Minimum depth: 830.502575 meters looking forward 100.000000 meters along route # Maximum depth: 859.602290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 755.502575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021681; longitude = -121.091439; captureRadius = 10; duration = 203; initialDepth = 791.790947; finalDepth = 755.502575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.950077 # Actual altitude: 92.950077 # Commanded vehicle depth: 755.502575 # Seafloor depth: -831.071206 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.18; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.897897 meters # Minimum depth: 866.790947 meters looking forward 100.000000 meters along route # Maximum depth: 908.363711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 791.790947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022348; longitude = -121.090681; captureRadius = 10; duration = 203; initialDepth = 834.390910; finalDepth = 791.790947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.568631 # Actual altitude: 75.568631 # Commanded vehicle depth: 791.790947 # Seafloor depth: -866.790947 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.23; MB_Bottom_Detect_Filter_Max_Range = 302.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.897557 meters # Minimum depth: 909.390910 meters looking forward 100.000000 meters along route # Maximum depth: 941.909510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 834.390910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023016; longitude = -121.089923; captureRadius = 10; duration = 203; initialDepth = 868.605659; finalDepth = 834.390910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 834.39091 # Seafloor depth: -909.390910 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.253558 meters # Minimum depth: 943.605659 meters looking forward 100.000000 meters along route # Maximum depth: 965.423464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 868.605659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023683; longitude = -121.089165; captureRadius = 10; duration = 204; initialDepth = 889.631961; finalDepth = 868.605659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 868.605659 # Seafloor depth: -943.605659 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.540535 meters # Minimum depth: 964.631961 meters looking forward 100.000000 meters along route # Maximum depth: 967.798787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 889.631961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024353; longitude = -121.088405; captureRadius = 10; duration = 203; initialDepth = 884.994832; finalDepth = 889.631961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 889.631961 # Seafloor depth: -964.631961 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.896536 meters # Minimum depth: 959.994832 meters looking forward 100.000000 meters along route # Maximum depth: 966.764691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 884.994832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025018; longitude = -121.087649; captureRadius = 10; duration = 203; initialDepth = 859.760946; finalDepth = 884.994832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.769859 # Actual altitude: 81.769859 # Commanded vehicle depth: 884.994832 # Seafloor depth: -966.764691 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.71; MB_Bottom_Detect_Filter_Max_Range = 327.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.896196 meters # Minimum depth: 934.760946 meters looking forward 100.000000 meters along route # Maximum depth: 960.034226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 859.760946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025686; longitude = -121.086891; captureRadius = 10; duration = 203; initialDepth = 849.305570; finalDepth = 859.760946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.248209 # Actual altitude: 100 # Commanded vehicle depth: 859.760946 # Seafloor depth: -960.009155 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 107.584192 meters # Minimum depth: 924.305570 meters looking forward 100.000000 meters along route # Maximum depth: 934.184006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 849.305570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026354; longitude = -121.086133; captureRadius = 10; duration = 215; initialDepth = 845.349733; finalDepth = 849.305570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.248209 # Actual altitude: 100 # Commanded vehicle depth: 849.30557 # Seafloor depth: -934.184006 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.993050 meters # Minimum depth: 920.349733 meters looking forward 100.000000 meters along route # Maximum depth: 924.031934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 845.349733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027058; longitude = -121.085333; captureRadius = 10; duration = 201; initialDepth = 844.904968; finalDepth = 845.349733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 84.878436 # Actual altitude: 84.878436 # Commanded vehicle depth: 845.349733 # Seafloor depth: -924.031934 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 339.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.95; MB_Bottom_Detect_Filter_Max_Range = 339.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.51; 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 102.650853 meters # Minimum depth: 919.904968 meters looking forward 100.000000 meters along route # Maximum depth: 926.759551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 844.904968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027720; longitude = -121.084582; captureRadius = 10; duration = 205; # abortOnTimeout = True; initialDepth = 851.849416; finalDepth = 844.904968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.682201 # Actual altitude: 78.682201 # Commanded vehicle depth: 844.904968 # Seafloor depth: -919.904968 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.47; MB_Bottom_Detect_Filter_Max_Range = 314.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 102.667216 meters # Minimum depth: 926.849416 meters looking forward 100.000000 meters along route # Maximum depth: 931.553454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 851.849416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028411; longitude = -121.085321; captureRadius = 10; duration = 205; initialDepth = 856.293960; finalDepth = 851.849416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75.03951 # Actual altitude: 75.03951 # Commanded vehicle depth: 851.849416 # Seafloor depth: -926.888926 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.02; MB_Bottom_Detect_Filter_Max_Range = 300.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 81.839932 meters # Minimum depth: 931.293960 meters looking forward 100.000000 meters along route # Maximum depth: 938.741211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 856.293960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029102; longitude = -121.086061; captureRadius = 10; duration = 163; # abortOnTimeout = True; initialDepth = 864.280732; finalDepth = 856.293960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.580811 # Actual altitude: 75.580811 # Commanded vehicle depth: 856.29396 # Seafloor depth: -931.874771 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.23; MB_Bottom_Detect_Filter_Max_Range = 302.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.050558 meters # Minimum depth: 939.280732 meters looking forward 100.000000 meters along route # Maximum depth: 947.944162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 864.280732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028570; longitude = -121.086675; captureRadius = 10; duration = 202; initialDepth = 873.966695; finalDepth = 864.280732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.580811 # Actual altitude: 75.580811 # Commanded vehicle depth: 864.280732 # Seafloor depth: -939.280732 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.23; MB_Bottom_Detect_Filter_Max_Range = 302.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.050896 meters # Minimum depth: 948.966695 meters looking forward 100.000000 meters along route # Maximum depth: 959.857161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 873.966695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027913; longitude = -121.087433; captureRadius = 10; duration = 202; initialDepth = 885.362768; finalDepth = 873.966695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 873.966695 # Seafloor depth: -948.966695 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.051234 meters # Minimum depth: 960.362768 meters looking forward 100.000000 meters along route # Maximum depth: 968.046240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 885.362768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027256; longitude = -121.088191; captureRadius = 10; duration = 202; initialDepth = 892.064081; finalDepth = 885.362768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 885.362768 # Seafloor depth: -960.362768 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.051571 meters # Minimum depth: 967.064081 meters looking forward 100.000000 meters along route # Maximum depth: 970.164590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 892.064081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026599; longitude = -121.088949; captureRadius = 10; duration = 202; initialDepth = 896.248073; finalDepth = 892.064081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 892.064081 # Seafloor depth: -967.064081 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.051910 meters # Minimum depth: 971.248073 meters looking forward 100.000000 meters along route # Maximum depth: 982.094661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 896.248073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025942; longitude = -121.089707; captureRadius = 10; duration = 202; initialDepth = 906.754097; finalDepth = 896.248073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 896.248073 # Seafloor depth: -971.248073 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.649505 meters # Minimum depth: 981.754097 meters looking forward 100.000000 meters along route # Maximum depth: 985.691576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 906.754097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025285; longitude = -121.090465; captureRadius = 10; duration = 203; initialDepth = 896.121705; finalDepth = 906.754097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 906.754097 # Seafloor depth: -981.754097 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.455327 meters # Minimum depth: 971.121705 meters looking forward 100.000000 meters along route # Maximum depth: 987.022617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 896.121705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024624; longitude = -121.091227; captureRadius = 10; duration = 200; initialDepth = 874.451360; finalDepth = 896.121705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.606861 # Actual altitude: 89.606861 # Commanded vehicle depth: 896.121705 # Seafloor depth: -985.728566 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.84; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.052924 meters # Minimum depth: 949.451360 meters looking forward 100.000000 meters along route # Maximum depth: 969.830359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 874.451360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023971; longitude = -121.091980; captureRadius = 10; duration = 202; initialDepth = 871.728571; finalDepth = 874.451360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.378999 # Actual altitude: 95.378999 # Commanded vehicle depth: 874.45136 # Seafloor depth: -969.830359 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.15; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.053261 meters # Minimum depth: 946.728571 meters looking forward 100.000000 meters along route # Maximum depth: 950.512886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 871.728571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023313; longitude = -121.092738; captureRadius = 10; duration = 202; initialDepth = 866.570546; finalDepth = 871.728571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.378999 # Actual altitude: 95.378999 # Commanded vehicle depth: 871.728571 # Seafloor depth: -949.327721 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.15; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.053599 meters # Minimum depth: 941.570546 meters looking forward 100.000000 meters along route # Maximum depth: 953.215011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 866.570546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022656; longitude = -121.093496; captureRadius = 10; duration = 202; initialDepth = 842.803452; finalDepth = 866.570546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.3993519999999 # Actual altitude: 80.3993519999999 # Commanded vehicle depth: 866.570546 # Seafloor depth: -946.969898 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.16; MB_Bottom_Detect_Filter_Max_Range = 321.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.053937 meters # Minimum depth: 917.803452 meters looking forward 100.000000 meters along route # Maximum depth: 941.130649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 842.803452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021999; longitude = -121.094254; captureRadius = 10; duration = 202; initialDepth = 863.331735; finalDepth = 842.803452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.327197 # Actual altitude: 98.327197 # Commanded vehicle depth: 842.803452 # Seafloor depth: -941.130649 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.33; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.054275 meters # Minimum depth: 938.331735 meters looking forward 100.000000 meters along route # Maximum depth: 993.530546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 863.331735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021342; longitude = -121.095012; captureRadius = 10; duration = 202; initialDepth = 910.454116; finalDepth = 863.331735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.327197 # Actual altitude: 98.327197 # Commanded vehicle depth: 863.331735 # Seafloor depth: -938.331735 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.33; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.571171 meters # Minimum depth: 999.270615 meters looking forward 100.000000 meters along route # Maximum depth: 1058.536397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 910.454116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020685; longitude = -121.095770; captureRadius = 10; duration = 203; initialDepth = 957.817530; finalDepth = 910.454116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.816498593897 # Actual altitude: 88.816498593897 # Commanded vehicle depth: 910.454116406103 # Seafloor depth: -999.270615 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.53; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.538394 meters # Minimum depth: 1058.750254 meters looking forward 100.000000 meters along route # Maximum depth: 1095.536594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 957.817530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020025; longitude = -121.096532; captureRadius = 10; duration = 201; initialDepth = 1004.699353; finalDepth = 957.817530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.932723629208 # Actual altitude: 100 # Commanded vehicle depth: 957.817530370792 # Seafloor depth: -1058.750254 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.055289 meters # Minimum depth: 1096.556509 meters looking forward 100.000000 meters along route # Maximum depth: 1122.075047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1004.699353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019371; longitude = -121.097286; captureRadius = 10; duration = 202; initialDepth = 1049.296942; finalDepth = 1004.699353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.932723629208 # Actual altitude: 100 # Commanded vehicle depth: 1004.69935252057 # Seafloor depth: -1096.556509 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.055627 meters # Minimum depth: 1124.296942 meters looking forward 100.000000 meters along route # Maximum depth: 1139.323851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1049.296942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018714; longitude = -121.098044; captureRadius = 10; duration = 202; initialDepth = 1066.327095; finalDepth = 1049.296942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.8571564794297 # Actual altitude: 91.8571564794297 # Commanded vehicle depth: 1049.296942 # Seafloor depth: -1124.296942 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.74; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.055965 meters # Minimum depth: 1141.327095 meters looking forward 100.000000 meters along route # Maximum depth: 1155.709660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1066.327095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018057; longitude = -121.098802; captureRadius = 10; duration = 202; initialDepth = 1080.840455; finalDepth = 1066.327095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1066.327095 # Seafloor depth: -1141.327095 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.056303 meters # Minimum depth: 1155.840455 meters looking forward 100.000000 meters along route # Maximum depth: 1168.162749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1080.840455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017400; longitude = -121.099560; captureRadius = 10; duration = 202; initialDepth = 1092.908342; finalDepth = 1080.840455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1080.840455 # Seafloor depth: -1155.840455 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.466584 meters # Minimum depth: 1167.908342 meters looking forward 100.000000 meters along route # Maximum depth: 1169.857442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1092.908342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016743; longitude = -121.100318; captureRadius = 10; duration = 210; initialDepth = 1095.428297; finalDepth = 1092.908342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.4975180000001 # Actual altitude: 75.4975180000001 # Commanded vehicle depth: 1092.908342 # Seafloor depth: -1168.405860 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 301.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.314067 meters # Minimum depth: 1170.428297 meters looking forward 100.000000 meters along route # Maximum depth: 1175.905938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1095.428297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016057; longitude = -121.101109; captureRadius = 10; duration = 212; initialDepth = 1088.272323; finalDepth = 1095.428297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75.4975180000001 # Actual altitude: 75.4975180000001 # Commanded vehicle depth: 1095.428297 # Seafloor depth: -1170.428297 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 301.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.99; 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 115.325770 meters # Minimum depth: 1163.272323 meters looking forward 100.000000 meters along route # Maximum depth: 1177.262054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1088.272323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015366; longitude = -121.101906; captureRadius = 10; duration = 230; # abortOnTimeout = True; initialDepth = 1074.586418; finalDepth = 1088.272323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.9897310000001 # Actual altitude: 88.9897310000001 # Commanded vehicle depth: 1088.272323 # Seafloor depth: -1177.262054 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.60; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.949287 meters # Minimum depth: 1149.586418 meters looking forward 100.000000 meters along route # Maximum depth: 1162.759496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1074.586418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016169; longitude = -121.102700; captureRadius = 10; duration = 209; initialDepth = 1074.682678; finalDepth = 1074.586418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 88.9897310000001 # Actual altitude: 88.9897310000001 # Commanded vehicle depth: 1074.586418 # Seafloor depth: -1162.759496 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.60; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 167.368362 meters # Minimum depth: 1149.682678 meters looking forward 100.000000 meters along route # Maximum depth: 1155.993043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1074.682678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016899; longitude = -121.103422; captureRadius = 10; duration = 334; # abortOnTimeout = True; initialDepth = 1077.280160; finalDepth = 1074.682678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.1730779999998 # Actual altitude: 88.1730779999998 # Commanded vehicle depth: 1074.682678 # Seafloor depth: -1149.682678 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.27; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.384505 meters # Minimum depth: 1152.280160 meters looking forward 100.000000 meters along route # Maximum depth: 1155.699490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1077.280160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017980; longitude = -121.102158; captureRadius = 10; duration = 200; initialDepth = 1062.025884; finalDepth = 1077.280160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.4193299999999 # Actual altitude: 78.4193299999999 # Commanded vehicle depth: 1077.28016 # Seafloor depth: -1155.699490 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.37; MB_Bottom_Detect_Filter_Max_Range = 313.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.384168 meters # Minimum depth: 1137.025884 meters looking forward 100.000000 meters along route # Maximum depth: 1151.259394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1062.025884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018629; longitude = -121.101400; captureRadius = 10; duration = 200; initialDepth = 1061.182033; finalDepth = 1062.025884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.23351 # Actual altitude: 89.23351 # Commanded vehicle depth: 1062.025884 # Seafloor depth: -1151.259394 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.69; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.383833 meters # Minimum depth: 1136.182033 meters looking forward 100.000000 meters along route # Maximum depth: 1141.365344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1061.182033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019278; longitude = -121.100642; captureRadius = 10; duration = 200; initialDepth = 1003.838521; finalDepth = 1061.182033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.23351 # Actual altitude: 89.23351 # Commanded vehicle depth: 1061.182033 # Seafloor depth: -1136.683641 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.69; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.383496 meters # Minimum depth: 1078.838521 meters looking forward 100.000000 meters along route # Maximum depth: 1138.100882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1003.838521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019926; longitude = -121.099885; captureRadius = 10; duration = 200; initialDepth = 982.079118; finalDepth = 1003.838521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 134.262361 # Actual altitude: 100 # Commanded vehicle depth: 1003.838521 # Seafloor depth: -1138.100882 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.383161 meters # Minimum depth: 1057.079118 meters looking forward 100.000000 meters along route # Maximum depth: 1077.912514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 982.079118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020575; longitude = -121.099127; captureRadius = 10; duration = 200; initialDepth = 974.412823; finalDepth = 982.079118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 134.262361 # Actual altitude: 100 # Commanded vehicle depth: 982.079118 # Seafloor depth: -1077.912514 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.382824 meters # Minimum depth: 1049.412823 meters looking forward 100.000000 meters along route # Maximum depth: 1056.833862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 974.412823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021224; longitude = -121.098369; captureRadius = 10; duration = 200; initialDepth = 968.483943; finalDepth = 974.412823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.833396 # Actual altitude: 95.833396 # Commanded vehicle depth: 974.412823 # Seafloor depth: -1056.833862 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.33; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.382489 meters # Minimum depth: 1043.483943 meters looking forward 100.000000 meters along route # Maximum depth: 1048.801315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 968.483943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021872; longitude = -121.097611; captureRadius = 10; duration = 200; initialDepth = 956.375009; finalDepth = 968.483943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.4210390000001 # Actual altitude: 82.4210390000001 # Commanded vehicle depth: 968.483943 # Seafloor depth: -1048.801315 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.97; MB_Bottom_Detect_Filter_Max_Range = 329.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.382152 meters # Minimum depth: 1031.375009 meters looking forward 100.000000 meters along route # Maximum depth: 1041.441869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 956.375009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022521; longitude = -121.096853; captureRadius = 10; duration = 200; initialDepth = 940.795679; finalDepth = 956.375009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.0668599999999 # Actual altitude: 85.0668599999999 # Commanded vehicle depth: 956.375009 # Seafloor depth: -1041.441869 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.03; MB_Bottom_Detect_Filter_Max_Range = 340.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.381816 meters # Minimum depth: 1015.795679 meters looking forward 100.000000 meters along route # Maximum depth: 1028.867426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 940.795679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023170; longitude = -121.096095; captureRadius = 10; duration = 200; initialDepth = 931.603518; finalDepth = 940.795679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.0717470000001 # Actual altitude: 88.0717470000001 # Commanded vehicle depth: 940.795679 # Seafloor depth: -1028.867426 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.23; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.381481 meters # Minimum depth: 1006.603518 meters looking forward 100.000000 meters along route # Maximum depth: 1015.733426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 931.603518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023818; longitude = -121.095337; captureRadius = 10; duration = 200; initialDepth = 918.780423; finalDepth = 931.603518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.0717470000001 # Actual altitude: 88.0717470000001 # Commanded vehicle depth: 931.603518 # Seafloor depth: -1015.733426 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.23; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.381144 meters # Minimum depth: 993.780423 meters looking forward 100.000000 meters along route # Maximum depth: 1006.252835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 918.780423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024467; longitude = -121.094579; captureRadius = 10; duration = 200; initialDepth = 910.921642; finalDepth = 918.780423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.472412 # Actual altitude: 87.472412 # Commanded vehicle depth: 918.780423 # Seafloor depth: -1006.252835 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 349.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.99; MB_Bottom_Detect_Filter_Max_Range = 349.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.380808 meters # Minimum depth: 985.921642 meters looking forward 100.000000 meters along route # Maximum depth: 994.925709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 910.921642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025115; longitude = -121.093821; captureRadius = 10; duration = 200; initialDepth = 905.443531; finalDepth = 910.921642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.472412 # Actual altitude: 87.472412 # Commanded vehicle depth: 910.921642 # Seafloor depth: -993.057693 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 349.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.99; MB_Bottom_Detect_Filter_Max_Range = 349.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.380472 meters # Minimum depth: 980.443531 meters looking forward 100.000000 meters along route # Maximum depth: 984.489014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 905.443531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025764; longitude = -121.093063; captureRadius = 10; duration = 200; initialDepth = 897.190592; finalDepth = 905.443531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.136051 # Actual altitude: 82.136051 # Commanded vehicle depth: 905.443531 # Seafloor depth: -984.489014 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.85; MB_Bottom_Detect_Filter_Max_Range = 328.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.380136 meters # Minimum depth: 972.190592 meters looking forward 100.000000 meters along route # Maximum depth: 979.217179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 897.190592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026413; longitude = -121.092305; captureRadius = 10; duration = 200; initialDepth = 892.438809; finalDepth = 897.190592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.0265869999999 # Actual altitude: 82.0265869999999 # Commanded vehicle depth: 897.190592 # Seafloor depth: -979.217179 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.81; MB_Bottom_Detect_Filter_Max_Range = 328.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.379800 meters # Minimum depth: 967.438809 meters looking forward 100.000000 meters along route # Maximum depth: 972.154316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 892.438809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027061; longitude = -121.091547; captureRadius = 10; duration = 200; initialDepth = 887.028529; finalDepth = 892.438809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.0265869999999 # Actual altitude: 82.0265869999999 # Commanded vehicle depth: 892.438809 # Seafloor depth: -972.154316 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.81; MB_Bottom_Detect_Filter_Max_Range = 328.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.379464 meters # Minimum depth: 962.028529 meters looking forward 100.000000 meters along route # Maximum depth: 967.778183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 887.028529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027710; longitude = -121.090789; captureRadius = 10; duration = 200; initialDepth = 881.170716; finalDepth = 887.028529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.404278 # Actual altitude: 80.404278 # Commanded vehicle depth: 887.028529 # Seafloor depth: -967.432807 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.16; MB_Bottom_Detect_Filter_Max_Range = 321.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.379129 meters # Minimum depth: 956.170716 meters looking forward 100.000000 meters along route # Maximum depth: 961.920305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 881.170716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028359; longitude = -121.090031; captureRadius = 10; duration = 200; initialDepth = 873.510234; finalDepth = 881.170716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.749589 # Actual altitude: 80.749589 # Commanded vehicle depth: 881.170716 # Seafloor depth: -961.920305 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.30; MB_Bottom_Detect_Filter_Max_Range = 323.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.082909 meters # Minimum depth: 948.510234 meters looking forward 100.000000 meters along route # Maximum depth: 955.723259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 873.510234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029007; longitude = -121.089273; captureRadius = 10; duration = 206; initialDepth = 865.889727; finalDepth = 873.510234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.213025 # Actual altitude: 82.213025 # Commanded vehicle depth: 873.510234 # Seafloor depth: -955.723259 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.89; MB_Bottom_Detect_Filter_Max_Range = 328.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.389822 meters # Minimum depth: 940.889727 meters looking forward 100.000000 meters along route # Maximum depth: 948.471680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 865.889727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029673; longitude = -121.088495; captureRadius = 10; duration = 204; initialDepth = 865.754913; finalDepth = 865.889727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 82.581953 # Actual altitude: 82.581953 # Commanded vehicle depth: 865.889727 # Seafloor depth: -948.471680 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.03; MB_Bottom_Detect_Filter_Max_Range = 330.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.33; 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 17 # Segment length 134.346560 meters # Minimum depth: 940.754913 meters looking forward 100.000000 meters along route # Maximum depth: 942.815317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 865.754913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030335; longitude = -121.087722; captureRadius = 10; duration = 268; # abortOnTimeout = True; initialDepth = 868.076675; finalDepth = 865.754913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.581953 # Actual altitude: 82.581953 # Commanded vehicle depth: 865.754913 # Seafloor depth: -940.754913 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.03; MB_Bottom_Detect_Filter_Max_Range = 330.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.479505 meters # Minimum depth: 943.076675 meters looking forward 100.000000 meters along route # Maximum depth: 948.230664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 868.076675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031387; longitude = -121.088444; captureRadius = 10; duration = 214; initialDepth = 873.291275; finalDepth = 868.076675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 868.076675 # Seafloor depth: -943.076675 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 134.006500 meters # Minimum depth: 948.291275 meters looking forward 100.000000 meters along route # Maximum depth: 952.664535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 873.291275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032228; longitude = -121.089021; captureRadius = 10; duration = 268; # abortOnTimeout = True; initialDepth = 876.449587; finalDepth = 873.291275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 873.291275 # Seafloor depth: -948.291275 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.522524 meters # Minimum depth: 951.449587 meters looking forward 100.000000 meters along route # Maximum depth: 954.633188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 876.449587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031361; longitude = -121.090031; captureRadius = 10; duration = 201; initialDepth = 872.197627; finalDepth = 876.449587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.644975 # Actual altitude: 76.644975 # Commanded vehicle depth: 876.449587 # Seafloor depth: -953.094562 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 306.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.522860 meters # Minimum depth: 947.197627 meters looking forward 100.000000 meters along route # Maximum depth: 951.382774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 872.197627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030710; longitude = -121.090789; captureRadius = 10; duration = 201; initialDepth = 873.571000; finalDepth = 872.197627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.183432 # Actual altitude: 79.183432 # Commanded vehicle depth: 872.197627 # Seafloor depth: -951.381059 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.67; MB_Bottom_Detect_Filter_Max_Range = 316.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.523196 meters # Minimum depth: 948.571000 meters looking forward 100.000000 meters along route # Maximum depth: 952.528583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 873.571000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030060; longitude = -121.091547; captureRadius = 10; duration = 201; initialDepth = 878.817397; finalDepth = 873.571000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.183432 # Actual altitude: 79.183432 # Commanded vehicle depth: 873.571 # Seafloor depth: -948.571000 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.67; MB_Bottom_Detect_Filter_Max_Range = 316.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.523534 meters # Minimum depth: 953.817397 meters looking forward 100.000000 meters along route # Maximum depth: 960.405829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 878.817397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029410; longitude = -121.092305; captureRadius = 10; duration = 201; initialDepth = 885.682232; finalDepth = 878.817397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 878.817397 # Seafloor depth: -953.817397 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.523869 meters # Minimum depth: 960.682232 meters looking forward 100.000000 meters along route # Maximum depth: 971.234227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 885.682232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028759; longitude = -121.093063; captureRadius = 10; duration = 201; initialDepth = 897.285814; finalDepth = 885.682232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 885.682232 # Seafloor depth: -960.682232 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.524206 meters # Minimum depth: 972.285814 meters looking forward 100.000000 meters along route # Maximum depth: 979.649060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 897.285814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028109; longitude = -121.093821; captureRadius = 10; duration = 201; initialDepth = 904.873385; finalDepth = 897.285814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 897.285814 # Seafloor depth: -972.285814 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.524543 meters # Minimum depth: 979.873385 meters looking forward 100.000000 meters along route # Maximum depth: 989.789283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 904.873385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027458; longitude = -121.094579; captureRadius = 10; duration = 201; initialDepth = 915.784949; finalDepth = 904.873385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 904.873385 # Seafloor depth: -979.873385 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.620103 meters # Minimum depth: 990.784949 meters looking forward 100.000000 meters along route # Maximum depth: 995.355775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 915.784949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026808; longitude = -121.095337; captureRadius = 10; duration = 201; initialDepth = 919.667992; finalDepth = 915.784949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 915.784949 # Seafloor depth: -990.784949 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.429991 meters # Minimum depth: 994.667992 meters looking forward 100.000000 meters along route # Maximum depth: 1001.078594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 919.667992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026157; longitude = -121.096096; captureRadius = 10; duration = 200; initialDepth = 926.566473; finalDepth = 919.667992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.69013 # Actual altitude: 75.69013 # Commanded vehicle depth: 919.667992 # Seafloor depth: -995.358122 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 302.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.525552 meters # Minimum depth: 1001.566473 meters looking forward 100.000000 meters along route # Maximum depth: 1007.601183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 926.566473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025507; longitude = -121.096853; captureRadius = 10; duration = 201; initialDepth = 932.231978; finalDepth = 926.566473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.69013 # Actual altitude: 75.69013 # Commanded vehicle depth: 926.566473 # Seafloor depth: -1001.566473 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 302.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.525889 meters # Minimum depth: 1007.231978 meters looking forward 100.000000 meters along route # Maximum depth: 1020.482392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 932.231978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024856; longitude = -121.097611; captureRadius = 10; duration = 201; initialDepth = 945.982193; finalDepth = 932.231978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 932.231978 # Seafloor depth: -1007.231978 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.526225 meters # Minimum depth: 1020.982193 meters looking forward 100.000000 meters along route # Maximum depth: 1027.793328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 945.982193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024206; longitude = -121.098369; captureRadius = 10; duration = 201; initialDepth = 953.250830; finalDepth = 945.982193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 945.982193 # Seafloor depth: -1020.982193 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.526562 meters # Minimum depth: 1028.250830 meters looking forward 100.000000 meters along route # Maximum depth: 1030.334884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 953.250830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023555; longitude = -121.099127; captureRadius = 10; duration = 201; initialDepth = 955.466946; finalDepth = 953.250830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.344689 # Actual altitude: 75.344689 # Commanded vehicle depth: 953.25083 # Seafloor depth: -1028.595519 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.14; MB_Bottom_Detect_Filter_Max_Range = 301.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.526898 meters # Minimum depth: 1030.466946 meters looking forward 100.000000 meters along route # Maximum depth: 1041.202351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 955.466946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022905; longitude = -121.099885; captureRadius = 10; duration = 201; initialDepth = 966.220656; finalDepth = 955.466946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.344689 # Actual altitude: 75.344689 # Commanded vehicle depth: 955.466946 # Seafloor depth: -1030.466946 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.14; MB_Bottom_Detect_Filter_Max_Range = 301.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.527234 meters # Minimum depth: 1041.220656 meters looking forward 100.000000 meters along route # Maximum depth: 1079.382618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 966.220656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022255; longitude = -121.100642; captureRadius = 10; duration = 201; initialDepth = 1006.291048; finalDepth = 966.220656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 966.220656 # Seafloor depth: -1041.220656 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.527571 meters # Minimum depth: 1081.291048 meters looking forward 100.000000 meters along route # Maximum depth: 1130.527548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1006.291048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021604; longitude = -121.101400; captureRadius = 10; duration = 201; initialDepth = 1052.300742; finalDepth = 1006.291048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1006.291048 # Seafloor depth: -1081.291048 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.527908 meters # Minimum depth: 1127.300742 meters looking forward 100.000000 meters along route # Maximum depth: 1130.186212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1052.300742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020954; longitude = -121.102158; captureRadius = 10; duration = 201; initialDepth = 1054.170182; finalDepth = 1052.300742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.9622120000001 # Actual altitude: 76.9622120000001 # Commanded vehicle depth: 1052.300742 # Seafloor depth: -1129.262954 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.78; MB_Bottom_Detect_Filter_Max_Range = 307.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.528244 meters # Minimum depth: 1129.170182 meters looking forward 100.000000 meters along route # Maximum depth: 1132.329801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1054.170182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020303; longitude = -121.102916; captureRadius = 10; duration = 201; initialDepth = 1056.576075; finalDepth = 1054.170182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.9622120000001 # Actual altitude: 76.9622120000001 # Commanded vehicle depth: 1054.170182 # Seafloor depth: -1129.170182 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.78; MB_Bottom_Detect_Filter_Max_Range = 307.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.528581 meters # Minimum depth: 1131.576075 meters looking forward 100.000000 meters along route # Maximum depth: 1134.086484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1056.576075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019653; longitude = -121.103674; captureRadius = 10; duration = 201; initialDepth = 1055.180600; finalDepth = 1056.576075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.6582600000002 # Actual altitude: 75.6582600000002 # Commanded vehicle depth: 1056.576075 # Seafloor depth: -1132.234335 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.26; MB_Bottom_Detect_Filter_Max_Range = 302.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.528918 meters # Minimum depth: 1130.180600 meters looking forward 100.000000 meters along route # Maximum depth: 1134.180068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1055.180600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019002; longitude = -121.104432; captureRadius = 10; duration = 201; initialDepth = 1052.704934; finalDepth = 1055.180600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.7110050000001 # Actual altitude: 78.7110050000001 # Commanded vehicle depth: 1055.1806 # Seafloor depth: -1133.891605 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.48; MB_Bottom_Detect_Filter_Max_Range = 314.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.769792 meters # Minimum depth: 1127.704934 meters looking forward 100.000000 meters along route # Maximum depth: 1132.112463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1052.704934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018352; longitude = -121.105190; captureRadius = 10; duration = 207; initialDepth = 1042.976307; finalDepth = 1052.704934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.4075289999998 # Actual altitude: 79.4075289999998 # Commanded vehicle depth: 1052.704934 # Seafloor depth: -1132.112463 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.76; MB_Bottom_Detect_Filter_Max_Range = 317.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.849403 meters # Minimum depth: 1117.976307 meters looking forward 100.000000 meters along route # Maximum depth: 1128.167576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1042.976307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017680; longitude = -121.105972; captureRadius = 10; duration = 213; initialDepth = 1040.762201; finalDepth = 1042.976307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 85.1912690000001 # Actual altitude: 85.1912690000001 # Commanded vehicle depth: 1042.976307 # Seafloor depth: -1128.167576 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.08; MB_Bottom_Detect_Filter_Max_Range = 340.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.77; 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 174.178842 meters # Minimum depth: 1115.762201 meters looking forward 100.000000 meters along route # Maximum depth: 1118.913819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1040.762201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016989; longitude = -121.106778; captureRadius = 10; duration = 348; # abortOnTimeout = True; initialDepth = 1044.070759; finalDepth = 1040.762201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.1912690000001 # Actual altitude: 85.1912690000001 # Commanded vehicle depth: 1040.762201 # Seafloor depth: -1117.718750 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 340.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.08; MB_Bottom_Detect_Filter_Max_Range = 340.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.482259 meters # Minimum depth: 1119.070759 meters looking forward 100.000000 meters along route # Maximum depth: 1125.076455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1044.070759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016837; longitude = -121.108655; captureRadius = 10; duration = 200; initialDepth = 1042.106151; finalDepth = 1044.070759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.956549 # Actual altitude: 76.956549 # Commanded vehicle depth: 1044.070759 # Seafloor depth: -1119.070759 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 307.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.78; MB_Bottom_Detect_Filter_Max_Range = 307.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 103.877741 meters # Minimum depth: 1117.106151 meters looking forward 100.000000 meters along route # Maximum depth: 1123.630584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1042.106151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016749; longitude = -121.109738; captureRadius = 10; duration = 207; initialDepth = 1039.446544; finalDepth = 1042.106151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 81.524433 # Actual altitude: 81.524433 # Commanded vehicle depth: 1042.106151 # Seafloor depth: -1123.630584 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 326.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.61; MB_Bottom_Detect_Filter_Max_Range = 326.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 161.827338 meters # Minimum depth: 1114.446544 meters looking forward 100.000000 meters along route # Maximum depth: 1124.325928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1039.446544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016658; longitude = -121.110857; captureRadius = 10; duration = 323; # abortOnTimeout = True; initialDepth = 1031.990149; finalDepth = 1039.446544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.8793840000001 # Actual altitude: 84.8793840000001 # Commanded vehicle depth: 1039.446544 # Seafloor depth: -1124.325928 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 339.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.95; MB_Bottom_Detect_Filter_Max_Range = 339.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.257775 meters # Minimum depth: 1106.990149 meters looking forward 100.000000 meters along route # Maximum depth: 1114.927123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1031.990149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017699; longitude = -121.109629; captureRadius = 10; duration = 218; initialDepth = 1033.721785; finalDepth = 1031.990149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.8793840000001 # Actual altitude: 84.8793840000001 # Commanded vehicle depth: 1031.990149 # Seafloor depth: -1114.491725 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 339.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.95; MB_Bottom_Detect_Filter_Max_Range = 339.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.837614 meters # Minimum depth: 1108.721785 meters looking forward 100.000000 meters along route # Maximum depth: 1112.853105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1033.721785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018402; longitude = -121.108801; captureRadius = 10; duration = 209; initialDepth = 1024.993434; finalDepth = 1033.721785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.5015760000001 # Actual altitude: 82.5015760000001 # Commanded vehicle depth: 1033.721785 # Seafloor depth: -1108.721785 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.00; MB_Bottom_Detect_Filter_Max_Range = 330.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 105.438966 meters # Minimum depth: 1099.993434 meters looking forward 100.000000 meters along route # Maximum depth: 1111.488226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1024.993434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019076; longitude = -121.108005; captureRadius = 10; duration = 210; initialDepth = 993.426986; finalDepth = 1024.993434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.3323270000001 # Actual altitude: 86.3323270000001 # Commanded vehicle depth: 1024.993434 # Seafloor depth: -1111.325761 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 345.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.53; MB_Bottom_Detect_Filter_Max_Range = 345.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 108.654886 meters # Minimum depth: 1068.426986 meters looking forward 100.000000 meters along route # Maximum depth: 1098.611398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 993.426986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019754; longitude = -121.107205; captureRadius = 10; duration = 217; initialDepth = 984.149246; finalDepth = 993.426986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 105.184412 # Actual altitude: 100 # Commanded vehicle depth: 993.426986 # Seafloor depth: -1098.611398 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.620211 meters # Minimum depth: 1059.149246 meters looking forward 100.000000 meters along route # Maximum depth: 1075.275703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 984.149246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020453; longitude = -121.106381; captureRadius = 10; duration = 203; initialDepth = 992.220446; finalDepth = 984.149246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 105.184412 # Actual altitude: 100 # Commanded vehicle depth: 984.149246 # Seafloor depth: -1062.860911 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 112.472104 meters # Minimum depth: 1067.220446 meters looking forward 100.000000 meters along route # Maximum depth: 1075.314387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 992.220446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021107; longitude = -121.105610; captureRadius = 10; duration = 224; initialDepth = 988.969994; finalDepth = 992.220446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.0939409999999 # Actual altitude: 83.0939409999999 # Commanded vehicle depth: 992.220446 # Seafloor depth: -1075.314387 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 332.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 111.819699 meters # Minimum depth: 1063.969994 meters looking forward 100.000000 meters along route # Maximum depth: 1067.157765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 988.969994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021830; longitude = -121.104757; captureRadius = 10; duration = 223; initialDepth = 965.508707; finalDepth = 988.969994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.0939409999999 # Actual altitude: 83.0939409999999 # Commanded vehicle depth: 988.969994 # Seafloor depth: -1067.157765 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 332.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.271079 meters # Minimum depth: 1040.508707 meters looking forward 100.000000 meters along route # Maximum depth: 1061.155498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 965.508707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022550; longitude = -121.103909; captureRadius = 10; duration = 204; initialDepth = 936.633670; finalDepth = 965.508707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.6467910000001 # Actual altitude: 95.6467910000001 # Commanded vehicle depth: 965.508707 # Seafloor depth: -1061.155498 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.26; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 108.000953 meters # Minimum depth: 1011.633670 meters looking forward 100.000000 meters along route # Maximum depth: 1039.807164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 936.633670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023208; longitude = -121.103133; captureRadius = 10; duration = 216; initialDepth = 880.270179; finalDepth = 936.633670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.173494 # Actual altitude: 100 # Commanded vehicle depth: 936.63367 # Seafloor depth: -1039.807164 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.088287 meters # Minimum depth: 955.270179 meters looking forward 100.000000 meters along route # Maximum depth: 1008.284727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 880.270179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023902; longitude = -121.102313; captureRadius = 10; duration = 212; initialDepth = 861.014537; finalDepth = 880.270179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 128.014548 # Actual altitude: 100 # Commanded vehicle depth: 880.270179 # Seafloor depth: -1008.284727 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.182263 meters # Minimum depth: 936.014537 meters looking forward 100.000000 meters along route # Maximum depth: 951.007394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 861.014537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024585; longitude = -121.101509; captureRadius = 10; duration = 208; initialDepth = 839.334564; finalDepth = 861.014537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 128.014548 # Actual altitude: 100 # Commanded vehicle depth: 861.014537 # Seafloor depth: -951.007394 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 109.905441 meters # Minimum depth: 914.334564 meters looking forward 100.000000 meters along route # Maximum depth: 937.952256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 839.334564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025255; longitude = -121.100718; captureRadius = 10; duration = 219; initialDepth = 826.079340; finalDepth = 839.334564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.617692 # Actual altitude: 98.617692 # Commanded vehicle depth: 839.334564 # Seafloor depth: -937.952256 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.45; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.363627 meters # Minimum depth: 901.079340 meters looking forward 100.000000 meters along route # Maximum depth: 912.561755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 826.079340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025962; longitude = -121.099885; captureRadius = 10; duration = 200; initialDepth = 834.656730; finalDepth = 826.079340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.617692 # Actual altitude: 98.617692 # Commanded vehicle depth: 826.07934 # Seafloor depth: -912.561755 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.45; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 112.142896 meters # Minimum depth: 909.656730 meters looking forward 100.000000 meters along route # Maximum depth: 941.427381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 834.656730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026607; longitude = -121.099123; captureRadius = 10; duration = 224; initialDepth = 867.998493; finalDepth = 834.656730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.4824149999999 # Actual altitude: 86.4824149999999 # Commanded vehicle depth: 834.65673 # Seafloor depth: -909.656730 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 345.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 345.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.485996 meters # Minimum depth: 942.998493 meters looking forward 100.000000 meters along route # Maximum depth: 954.929804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 867.998493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027329; longitude = -121.098272; captureRadius = 10; duration = 202; initialDepth = 879.711070; finalDepth = 867.998493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 867.998493 # Seafloor depth: -942.998493 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 108.780798 meters # Minimum depth: 954.711070 meters looking forward 100.000000 meters along route # Maximum depth: 964.316572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 879.711070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027982; longitude = -121.097502; captureRadius = 10; duration = 217; initialDepth = 889.856780; finalDepth = 879.711070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.216355 # Actual altitude: 75.216355 # Commanded vehicle depth: 879.71107 # Seafloor depth: -954.927425 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 300.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 105.303114 meters # Minimum depth: 964.856780 meters looking forward 100.000000 meters along route # Maximum depth: 970.721818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 889.856780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028681; longitude = -121.096677; captureRadius = 10; duration = 210; initialDepth = 891.336251; finalDepth = 889.856780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.216355 # Actual altitude: 75.216355 # Commanded vehicle depth: 889.85678 # Seafloor depth: -964.856780 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 300.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.962198 meters # Minimum depth: 966.336251 meters looking forward 100.000000 meters along route # Maximum depth: 968.742516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 891.336251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029359; longitude = -121.095878; captureRadius = 10; duration = 209; initialDepth = 891.366525; finalDepth = 891.336251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2807250000001 # Actual altitude: 77.2807250000001 # Commanded vehicle depth: 891.336251 # Seafloor depth: -968.616976 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.91; MB_Bottom_Detect_Filter_Max_Range = 309.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 109.120178 meters # Minimum depth: 966.366525 meters looking forward 100.000000 meters along route # Maximum depth: 967.593862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 891.366525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030034; longitude = -121.095082; captureRadius = 10; duration = 218; initialDepth = 892.135080; finalDepth = 891.366525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2807250000001 # Actual altitude: 77.2807250000001 # Commanded vehicle depth: 891.366525 # Seafloor depth: -966.951524 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.91; MB_Bottom_Detect_Filter_Max_Range = 309.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.143651 meters # Minimum depth: 967.135080 meters looking forward 100.000000 meters along route # Maximum depth: 969.293753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 892.135080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030736; longitude = -121.094254; captureRadius = 10; duration = 202; initialDepth = 887.511789; finalDepth = 892.135080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5269949999999 # Actual altitude: 76.5269949999999 # Commanded vehicle depth: 892.13508 # Seafloor depth: -968.662075 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.61; MB_Bottom_Detect_Filter_Max_Range = 306.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 112.140103 meters # Minimum depth: 962.511789 meters looking forward 100.000000 meters along route # Maximum depth: 967.434570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 887.511789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031387; longitude = -121.093487; captureRadius = 10; duration = 224; initialDepth = 886.076932; finalDepth = 887.511789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.922781 # Actual altitude: 79.922781 # Commanded vehicle depth: 887.511789 # Seafloor depth: -967.434570 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.97; MB_Bottom_Detect_Filter_Max_Range = 319.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.700951 meters # Minimum depth: 961.076932 meters looking forward 100.000000 meters along route # Maximum depth: 965.385300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 886.076932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032108; longitude = -121.092636; captureRadius = 10; duration = 201; initialDepth = 881.027389; finalDepth = 886.076932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.922781 # Actual altitude: 79.922781 # Commanded vehicle depth: 886.076932 # Seafloor depth: -965.385300 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 319.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.97; MB_Bottom_Detect_Filter_Max_Range = 319.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 109.560605 meters # Minimum depth: 956.027389 meters looking forward 100.000000 meters along route # Maximum depth: 962.417963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 881.027389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032756; longitude = -121.091872; captureRadius = 10; duration = 219; initialDepth = 874.500256; finalDepth = 881.027389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.390574 # Actual altitude: 81.390574 # Commanded vehicle depth: 881.027389 # Seafloor depth: -962.417963 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.56; MB_Bottom_Detect_Filter_Max_Range = 325.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.517981 meters # Minimum depth: 949.500256 meters looking forward 100.000000 meters along route # Maximum depth: 955.058867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 874.500256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033461; longitude = -121.091041; captureRadius = 10; duration = 209; initialDepth = 870.815645; finalDepth = 874.500256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.390574 # Actual altitude: 81.390574 # Commanded vehicle depth: 874.500256 # Seafloor depth: -955.058867 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 325.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.56; MB_Bottom_Detect_Filter_Max_Range = 325.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 105.742093 meters # Minimum depth: 945.815645 meters looking forward 100.000000 meters along route # Maximum depth: 949.226928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 870.815645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034133; longitude = -121.090248; captureRadius = 10; duration = 211; initialDepth = 861.759442; finalDepth = 870.815645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.5586109999999 # Actual altitude: 80.5586109999999 # Commanded vehicle depth: 870.815645 # Seafloor depth: -949.226928 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.22; MB_Bottom_Detect_Filter_Max_Range = 322.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 108.334955 meters # Minimum depth: 936.759442 meters looking forward 100.000000 meters along route # Maximum depth: 945.207256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 861.759442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034813; longitude = -121.089446; captureRadius = 10; duration = 216; initialDepth = 852.714281; finalDepth = 861.759442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.447814 # Actual altitude: 83.447814 # Commanded vehicle depth: 861.759442 # Seafloor depth: -945.207256 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 333.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.38; MB_Bottom_Detect_Filter_Max_Range = 333.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.923636 meters # Minimum depth: 927.714281 meters looking forward 100.000000 meters along route # Maximum depth: 935.836586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 852.714281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035510; longitude = -121.088624; captureRadius = 10; duration = 203; initialDepth = 837.684886; finalDepth = 852.714281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.447814 # Actual altitude: 83.447814 # Commanded vehicle depth: 852.714281 # Seafloor depth: -935.583877 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 333.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.38; MB_Bottom_Detect_Filter_Max_Range = 333.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 112.151877 meters # Minimum depth: 912.684886 meters looking forward 100.000000 meters along route # Maximum depth: 927.525199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 837.684886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036166; longitude = -121.087851; captureRadius = 10; duration = 224; initialDepth = 828.696860; finalDepth = 837.684886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.840313 # Actual altitude: 89.840313 # Commanded vehicle depth: 837.684886 # Seafloor depth: -927.525199 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.94; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 112.122321 meters # Minimum depth: 903.696860 meters looking forward 100.000000 meters along route # Maximum depth: 912.683506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 828.696860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036887; longitude = -121.087000; captureRadius = 10; duration = 224; initialDepth = 811.765782; finalDepth = 828.696860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.840313 # Actual altitude: 89.840313 # Commanded vehicle depth: 828.69686 # Seafloor depth: -912.683506 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.94; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.951654 meters # Minimum depth: 886.765782 meters looking forward 100.000000 meters along route # Maximum depth: 902.747233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 811.765782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037609; longitude = -121.086149; captureRadius = 10; duration = 203; initialDepth = 805.403441; finalDepth = 811.765782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.9814510000001 # Actual altitude: 90.9814510000001 # Commanded vehicle depth: 811.765782 # Seafloor depth: -902.747233 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.39; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 108.303874 meters # Minimum depth: 880.403441 meters looking forward 100.000000 meters along route # Maximum depth: 886.191348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 805.403441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038264; longitude = -121.085376; captureRadius = 10; duration = 216; initialDepth = 795.106041; finalDepth = 805.403441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.9814510000001 # Actual altitude: 90.9814510000001 # Commanded vehicle depth: 805.403441 # Seafloor depth: -886.191348 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.39; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 105.768566 meters # Minimum depth: 870.106041 meters looking forward 100.000000 meters along route # Maximum depth: 879.257689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 795.106041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038961; longitude = -121.084554; captureRadius = 10; duration = 211; initialDepth = 777.758942; finalDepth = 795.106041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.151648 # Actual altitude: 84.151648 # Commanded vehicle depth: 795.106041 # Seafloor depth: -879.257689 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 336.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.66; MB_Bottom_Detect_Filter_Max_Range = 336.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.485481 meters # Minimum depth: 852.758942 meters looking forward 100.000000 meters along route # Maximum depth: 869.811867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 777.758942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039642; longitude = -121.083751; captureRadius = 10; duration = 208; initialDepth = 761.618014; finalDepth = 777.758942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.910979 # Actual altitude: 91.910979 # Commanded vehicle depth: 777.758942 # Seafloor depth: -869.669921 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.76; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 109.585422 meters # Minimum depth: 836.618014 meters looking forward 100.000000 meters along route # Maximum depth: 851.804994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 761.618014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040314; longitude = -121.082959; captureRadius = 10; duration = 219; initialDepth = 746.751930; finalDepth = 761.618014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.910979 # Actual altitude: 91.910979 # Commanded vehicle depth: 761.618014 # Seafloor depth: -851.804994 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.76; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.667142 meters # Minimum depth: 821.751930 meters looking forward 100.000000 meters along route # Maximum depth: 835.602597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 746.751930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041019; longitude = -121.082127; captureRadius = 10; duration = 201; initialDepth = 739.358831; finalDepth = 746.751930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.1869799999999 # Actual altitude: 90.1869799999999 # Commanded vehicle depth: 746.75193 # Seafloor depth: -835.602597 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.07; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 112.134095 meters # Minimum depth: 814.358831 meters looking forward 100.000000 meters along route # Maximum depth: 821.615123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 739.358831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041666; longitude = -121.081363; captureRadius = 10; duration = 224; initialDepth = 730.643123; finalDepth = 739.358831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.8506669999999 # Actual altitude: 88.8506669999999 # Commanded vehicle depth: 739.358831 # Seafloor depth: -821.615123 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.54; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.166642 meters # Minimum depth: 805.643123 meters looking forward 100.000000 meters along route # Maximum depth: 813.871004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 730.643123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042388; longitude = -121.080513; captureRadius = 10; duration = 202; initialDepth = 717.436310; finalDepth = 730.643123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.227881 # Actual altitude: 83.227881 # Commanded vehicle depth: 730.643123 # Seafloor depth: -813.871004 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 332.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 332.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 109.083651 meters # Minimum depth: 792.436310 meters looking forward 100.000000 meters along route # Maximum depth: 806.962482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 717.436310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043039; longitude = -121.079745; captureRadius = 10; duration = 218; initialDepth = 712.235571; finalDepth = 717.436310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.526172 # Actual altitude: 89.526172 # Commanded vehicle depth: 717.43631 # Seafloor depth: -806.962482 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.81; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.983463 meters # Minimum depth: 787.235571 meters looking forward 100.000000 meters along route # Maximum depth: 793.908405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 712.235571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043740; longitude = -121.078918; captureRadius = 10; duration = 209; initialDepth = 705.181855; finalDepth = 712.235571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.526172 # Actual altitude: 89.526172 # Commanded vehicle depth: 712.235571 # Seafloor depth: -793.618735 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.81; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 105.265347 meters # Minimum depth: 780.181855 meters looking forward 100.000000 meters along route # Maximum depth: 786.957695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 705.181855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044416; longitude = -121.078121; captureRadius = 10; duration = 210; initialDepth = 690.992901; finalDepth = 705.181855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.7758399999999 # Actual altitude: 81.7758399999999 # Commanded vehicle depth: 705.181855 # Seafloor depth: -786.957695 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.71; MB_Bottom_Detect_Filter_Max_Range = 327.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 108.800230 meters # Minimum depth: 765.992901 meters looking forward 100.000000 meters along route # Maximum depth: 779.958397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 690.992901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045093; longitude = -121.077322; captureRadius = 10; duration = 217; initialDepth = 679.206854; finalDepth = 690.992901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.965496 # Actual altitude: 88.965496 # Commanded vehicle depth: 690.992901 # Seafloor depth: -779.958397 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.59; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.447099 meters # Minimum depth: 754.206854 meters looking forward 100.000000 meters along route # Maximum depth: 764.729007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 679.206854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045793; longitude = -121.076497; captureRadius = 10; duration = 202; initialDepth = 668.055598; finalDepth = 679.206854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.965496 # Actual altitude: 88.965496 # Commanded vehicle depth: 679.206854 # Seafloor depth: -764.729007 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.59; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 112.616943 meters # Minimum depth: 743.055598 meters looking forward 100.000000 meters along route # Maximum depth: 754.095782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 668.055598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046446; longitude = -121.075727; captureRadius = 10; duration = 225; initialDepth = 660.659343; finalDepth = 668.055598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.040184 # Actual altitude: 86.040184 # Commanded vehicle depth: 668.055598 # Seafloor depth: -754.095782 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 344.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.42; MB_Bottom_Detect_Filter_Max_Range = 344.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 111.645241 meters # Minimum depth: 735.659343 meters looking forward 100.000000 meters along route # Maximum depth: 743.032913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 660.659343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047170; longitude = -121.074873; captureRadius = 10; duration = 223; initialDepth = 663.019915; finalDepth = 660.659343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.040184 # Actual altitude: 86.040184 # Commanded vehicle depth: 660.659343 # Seafloor depth: -743.032913 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 344.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.42; MB_Bottom_Detect_Filter_Max_Range = 344.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.417264 meters # Minimum depth: 738.019915 meters looking forward 100.000000 meters along route # Maximum depth: 742.870880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 663.019915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047888; longitude = -121.074026; captureRadius = 10; duration = 204; initialDepth = 668.143180; finalDepth = 663.019915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.37357 # Actual altitude: 82.37357 # Commanded vehicle depth: 663.019915 # Seafloor depth: -738.019915 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.95; MB_Bottom_Detect_Filter_Max_Range = 329.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 107.827002 meters # Minimum depth: 743.143180 meters looking forward 100.000000 meters along route # Maximum depth: 752.022437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 668.143180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048547; longitude = -121.073249; captureRadius = 10; duration = 215; initialDepth = 674.878041; finalDepth = 668.143180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 668.14318 # Seafloor depth: -743.143180 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.233968 meters # Minimum depth: 749.878041 meters looking forward 100.000000 meters along route # Maximum depth: 757.500636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 674.878041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049241; longitude = -121.072430; captureRadius = 10; duration = 212; initialDepth = 682.189813; finalDepth = 674.878041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5505939999999 # Actual altitude: 76.5505939999999 # Commanded vehicle depth: 674.878041 # Seafloor depth: -751.428635 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 306.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.008817 meters # Minimum depth: 757.189813 meters looking forward 100.000000 meters along route # Maximum depth: 762.614272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 682.189813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049924; longitude = -121.071624; captureRadius = 10; duration = 208; initialDepth = 687.857893; finalDepth = 682.189813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5505939999999 # Actual altitude: 76.5505939999999 # Commanded vehicle depth: 682.189813 # Seafloor depth: -757.874364 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 306.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 110.050617 meters # Minimum depth: 762.857893 meters looking forward 100.000000 meters along route # Maximum depth: 779.434507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 687.857893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050594; longitude = -121.070835; captureRadius = 10; duration = 220; initialDepth = 705.248887; finalDepth = 687.857893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.6845510000001 # Actual altitude: 75.6845510000001 # Commanded vehicle depth: 687.857893 # Seafloor depth: -762.857893 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 302.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.190686 meters # Minimum depth: 780.248887 meters looking forward 100.000000 meters along route # Maximum depth: 786.287420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 705.248887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051302; longitude = -121.070000; captureRadius = 10; duration = 200; initialDepth = 709.949284; finalDepth = 705.248887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.155399 # Actual altitude: 75.155399 # Commanded vehicle depth: 705.248887 # Seafloor depth: -780.404286 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 300.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 112.128089 meters # Minimum depth: 784.949284 meters looking forward 100.000000 meters along route # Maximum depth: 791.120589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 709.949284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051946; longitude = -121.069240; captureRadius = 10; duration = 224; initialDepth = 717.581959; finalDepth = 709.949284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.295618 # Actual altitude: 75.295618 # Commanded vehicle depth: 709.949284 # Seafloor depth: -785.244902 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 301.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.632283 meters # Minimum depth: 792.581959 meters looking forward 100.000000 meters along route # Maximum depth: 795.561527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 717.581959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052668; longitude = -121.068389; captureRadius = 10; duration = 203; initialDepth = 719.372866; finalDepth = 717.581959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.295618 # Actual altitude: 75.295618 # Commanded vehicle depth: 717.581959 # Seafloor depth: -792.581959 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 301.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 108.606749 meters # Minimum depth: 794.372866 meters looking forward 100.000000 meters along route # Maximum depth: 797.365386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 719.372866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053321; longitude = -121.067618; captureRadius = 10; duration = 217; initialDepth = 724.005004; finalDepth = 719.372866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.100595 # Actual altitude: 76.100595 # Commanded vehicle depth: 719.372866 # Seafloor depth: -795.473461 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 304.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 105.448896 meters # Minimum depth: 799.005004 meters looking forward 100.000000 meters along route # Maximum depth: 806.405450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 724.005004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054020; longitude = -121.066794; captureRadius = 10; duration = 210; initialDepth = 731.890652; finalDepth = 724.005004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.100595 # Actual altitude: 76.100595 # Commanded vehicle depth: 724.005004 # Seafloor depth: -799.005004 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 304.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.788654 meters # Minimum depth: 806.890652 meters looking forward 100.000000 meters along route # Maximum depth: 819.927847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 731.890652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054699; longitude = -121.065994; captureRadius = 10; duration = 209; initialDepth = 745.432475; finalDepth = 731.890652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 731.890652 # Seafloor depth: -806.890652 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 109.265456 meters # Minimum depth: 820.432475 meters looking forward 100.000000 meters along route # Maximum depth: 850.626502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 745.432475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055373; longitude = -121.065199; captureRadius = 10; duration = 218; initialDepth = 774.633326; finalDepth = 745.432475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 745.432475 # Seafloor depth: -820.432475 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.970613 meters # Minimum depth: 849.633326 meters looking forward 100.000000 meters along route # Maximum depth: 857.167864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 774.633326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056076; longitude = -121.064370; captureRadius = 10; duration = 201; initialDepth = 782.264003; finalDepth = 774.633326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.2013469999999 # Actual altitude: 78.2013469999999 # Commanded vehicle depth: 774.633326 # Seafloor depth: -852.834673 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 312.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 112.125298 meters # Minimum depth: 857.264003 meters looking forward 100.000000 meters along route # Maximum depth: 869.593162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 782.264003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056725; longitude = -121.063604; captureRadius = 10; duration = 224; initialDepth = 786.051379; finalDepth = 782.264003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.2013469999999 # Actual altitude: 78.2013469999999 # Commanded vehicle depth: 782.264003 # Seafloor depth: -857.264003 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 312.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 312.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.847339 meters # Minimum depth: 861.051379 meters looking forward 100.000000 meters along route # Maximum depth: 870.570668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 786.051379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057447; longitude = -121.062753; captureRadius = 10; duration = 201; initialDepth = 773.142758; finalDepth = 786.051379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.748323 # Actual altitude: 80.748323 # Commanded vehicle depth: 786.051379 # Seafloor depth: -866.799702 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.30; MB_Bottom_Detect_Filter_Max_Range = 322.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 109.386458 meters # Minimum depth: 848.142758 meters looking forward 100.000000 meters along route # Maximum depth: 860.304438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 773.142758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058096; longitude = -121.061988; captureRadius = 10; duration = 218; initialDepth = 747.085793; finalDepth = 773.142758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.16168 # Actual altitude: 87.16168 # Commanded vehicle depth: 773.142758 # Seafloor depth: -860.304438 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 348.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.86; MB_Bottom_Detect_Filter_Max_Range = 348.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.663864 meters # Minimum depth: 822.085793 meters looking forward 100.000000 meters along route # Maximum depth: 846.002118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 747.085793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058799; longitude = -121.061158; captureRadius = 10; duration = 209; initialDepth = 719.366408; finalDepth = 747.085793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.916325 # Actual altitude: 98.916325 # Commanded vehicle depth: 747.085793 # Seafloor depth: -846.002118 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.57; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 105.568453 meters # Minimum depth: 794.366408 meters looking forward 100.000000 meters along route # Maximum depth: 820.733268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 719.366408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059473; longitude = -121.060364; captureRadius = 10; duration = 211; initialDepth = 704.756295; finalDepth = 719.366408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.36686 # Actual altitude: 100 # Commanded vehicle depth: 719.366408 # Seafloor depth: -820.733268 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 108.480334 meters # Minimum depth: 779.756295 meters looking forward 100.000000 meters along route # Maximum depth: 792.958333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 704.756295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060152; longitude = -121.059563; captureRadius = 10; duration = 216; initialDepth = 700.000013; finalDepth = 704.756295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.36686 # Actual altitude: 100 # Commanded vehicle depth: 704.756295 # Seafloor depth: -792.958333 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.750501 meters # Minimum depth: 775.000013 meters looking forward 100.000000 meters along route # Maximum depth: 779.588704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 700.000013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060850; longitude = -121.058740; captureRadius = 10; duration = 203; initialDepth = 699.931577; finalDepth = 700.000013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.202038 # Actual altitude: 88.202038 # Commanded vehicle depth: 700.000013 # Seafloor depth: -779.588704 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.28; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 107.482795 meters # Minimum depth: 774.931577 meters looking forward 100.000000 meters along route # Maximum depth: 808.664531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 699.931577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061504; longitude = -121.057968; captureRadius = 10; duration = 214; initialDepth = 737.119919; finalDepth = 699.931577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 79.588691 # Actual altitude: 79.588691 # Commanded vehicle depth: 699.931577 # Seafloor depth: -774.931577 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.84; MB_Bottom_Detect_Filter_Max_Range = 318.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 118.527604 meters # Minimum depth: 812.119919 meters looking forward 100.000000 meters along route # Maximum depth: 828.090665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 737.119919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062196; longitude = -121.057152; captureRadius = 10; duration = 237; # abortOnTimeout = True; initialDepth = 741.941724; finalDepth = 737.119919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 737.119919 # Seafloor depth: -812.119919 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 106.115615 meters # Minimum depth: 816.941724 meters looking forward 100.000000 meters along route # Maximum depth: 826.197763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 741.941724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062767; longitude = -121.058237; captureRadius = 10; duration = 212; initialDepth = 743.606018; finalDepth = 741.941724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 83.990411 # Actual altitude: 83.990411 # Commanded vehicle depth: 741.941724 # Seafloor depth: -825.932135 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.60; MB_Bottom_Detect_Filter_Max_Range = 335.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 135.536273 meters # Minimum depth: 818.606018 meters looking forward 100.000000 meters along route # Maximum depth: 846.129921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 743.606018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063278; longitude = -121.059209; captureRadius = 10; duration = 271; # abortOnTimeout = True; initialDepth = 772.445507; finalDepth = 743.606018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.990411 # Actual altitude: 83.990411 # Commanded vehicle depth: 743.606018 # Seafloor depth: -818.606018 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.60; MB_Bottom_Detect_Filter_Max_Range = 335.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 102.202484 meters # Minimum depth: 847.445507 meters looking forward 100.000000 meters along route # Maximum depth: 872.317092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 772.445507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062406; longitude = -121.060238; captureRadius = 10; duration = 204; initialDepth = 799.303612; finalDepth = 772.445507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 772.445507 # Seafloor depth: -847.445507 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 108.082483 meters # Minimum depth: 874.303612 meters looking forward 100.000000 meters along route # Maximum depth: 891.243578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 799.303612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061749; longitude = -121.061013; captureRadius = 10; duration = 216; initialDepth = 818.146508; finalDepth = 799.303612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 799.303612 # Seafloor depth: -874.303612 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.906505 meters # Minimum depth: 893.146508 meters looking forward 100.000000 meters along route # Maximum depth: 901.997519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 818.146508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061054; longitude = -121.061834; captureRadius = 10; duration = 211; initialDepth = 827.303499; finalDepth = 818.146508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 818.146508 # Seafloor depth: -893.146508 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.379944 meters # Minimum depth: 902.303499 meters looking forward 100.000000 meters along route # Maximum depth: 908.289014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 827.303499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060372; longitude = -121.062638; captureRadius = 10; duration = 208; initialDepth = 828.915595; finalDepth = 827.303499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.26072 # Actual altitude: 75.26072 # Commanded vehicle depth: 827.303499 # Seafloor depth: -902.564219 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 301.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 109.610578 meters # Minimum depth: 903.915595 meters looking forward 100.000000 meters along route # Maximum depth: 906.354824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 828.915595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059701; longitude = -121.063430; captureRadius = 10; duration = 219; initialDepth = 831.944841; finalDepth = 828.915595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.26072 # Actual altitude: 75.26072 # Commanded vehicle depth: 828.915595 # Seafloor depth: -903.915595 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 301.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.677353 meters # Minimum depth: 906.944841 meters looking forward 100.000000 meters along route # Maximum depth: 913.173797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 831.944841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058996; longitude = -121.064262; captureRadius = 10; duration = 201; initialDepth = 830.289366; finalDepth = 831.944841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 831.944841 # Seafloor depth: -906.944841 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 112.154170 meters # Minimum depth: 905.289366 meters looking forward 100.000000 meters along route # Maximum depth: 913.847163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 830.289366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058348; longitude = -121.065026; captureRadius = 10; duration = 224; initialDepth = 821.710201; finalDepth = 830.289366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.437141 # Actual altitude: 78.437141 # Commanded vehicle depth: 830.289366 # Seafloor depth: -908.726507 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.37; MB_Bottom_Detect_Filter_Max_Range = 313.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.024021 meters # Minimum depth: 896.710201 meters looking forward 100.000000 meters along route # Maximum depth: 907.214088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 821.710201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057627; longitude = -121.065877; captureRadius = 10; duration = 202; initialDepth = 806.755893; finalDepth = 821.710201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.865468 # Actual altitude: 82.865468 # Commanded vehicle depth: 821.710201 # Seafloor depth: -904.575669 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.15; MB_Bottom_Detect_Filter_Max_Range = 331.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 109.266184 meters # Minimum depth: 881.755893 meters looking forward 100.000000 meters along route # Maximum depth: 896.011275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 806.755893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056977; longitude = -121.066644; captureRadius = 10; duration = 218; initialDepth = 810.680193; finalDepth = 806.755893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.2553819999999 # Actual altitude: 89.2553819999999 # Commanded vehicle depth: 806.755893 # Seafloor depth: -896.011275 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.70; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.728125 meters # Minimum depth: 885.680193 meters looking forward 100.000000 meters along route # Maximum depth: 891.927725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 810.680193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056274; longitude = -121.067473; captureRadius = 10; duration = 209; initialDepth = 804.973943; finalDepth = 810.680193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.2553819999999 # Actual altitude: 89.2553819999999 # Commanded vehicle depth: 810.680193 # Seafloor depth: -885.680193 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.70; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.563563 meters # Minimum depth: 879.973943 meters looking forward 100.000000 meters along route # Maximum depth: 890.774632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 804.973943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055601; longitude = -121.068268; captureRadius = 10; duration = 211; initialDepth = 804.468168; finalDepth = 804.973943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.800689 # Actual altitude: 85.800689 # Commanded vehicle depth: 804.973943 # Seafloor depth: -890.774632 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.32; MB_Bottom_Detect_Filter_Max_Range = 343.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 108.432282 meters # Minimum depth: 879.468168 meters looking forward 100.000000 meters along route # Maximum depth: 885.324937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 804.468168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054922; longitude = -121.069069; captureRadius = 10; duration = 216; initialDepth = 794.698357; finalDepth = 804.468168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.800689 # Actual altitude: 85.800689 # Commanded vehicle depth: 804.468168 # Seafloor depth: -879.468168 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.32; MB_Bottom_Detect_Filter_Max_Range = 343.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.860889 meters # Minimum depth: 869.698357 meters looking forward 100.000000 meters along route # Maximum depth: 884.109281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 794.698357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054224; longitude = -121.069892; captureRadius = 10; duration = 203; initialDepth = 779.350882; finalDepth = 794.698357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.410924 # Actual altitude: 89.410924 # Commanded vehicle depth: 794.698357 # Seafloor depth: -884.109281 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.76; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 112.156964 meters # Minimum depth: 854.350882 meters looking forward 100.000000 meters along route # Maximum depth: 869.314915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 779.350882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053569; longitude = -121.070665; captureRadius = 10; duration = 224; initialDepth = 757.867751; finalDepth = 779.350882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.9640330000001 # Actual altitude: 89.9640330000001 # Commanded vehicle depth: 779.350882 # Seafloor depth: -869.314915 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.99; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 112.157386 meters # Minimum depth: 832.867751 meters looking forward 100.000000 meters along route # Maximum depth: 854.348407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 757.867751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052848; longitude = -121.071516; captureRadius = 10; duration = 224; initialDepth = 741.220631; finalDepth = 757.867751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.480656 # Actual altitude: 96.480656 # Commanded vehicle depth: 757.867751 # Seafloor depth: -854.348407 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.59; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.821058 meters # Minimum depth: 816.220631 meters looking forward 100.000000 meters along route # Maximum depth: 827.849351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 741.220631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052126; longitude = -121.072368; captureRadius = 10; duration = 203; initialDepth = 730.712535; finalDepth = 741.220631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.480656 # Actual altitude: 96.480656 # Commanded vehicle depth: 741.220631 # Seafloor depth: -827.849351 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.59; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 108.475177 meters # Minimum depth: 805.712535 meters looking forward 100.000000 meters along route # Maximum depth: 815.902208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 730.712535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051472; longitude = -121.073140; captureRadius = 10; duration = 216; initialDepth = 715.653230; finalDepth = 730.712535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.6287199999999 # Actual altitude: 86.6287199999999 # Commanded vehicle depth: 730.712535 # Seafloor depth: -815.902208 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 346.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.65; MB_Bottom_Detect_Filter_Max_Range = 346.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.525275 meters # Minimum depth: 790.653230 meters looking forward 100.000000 meters along route # Maximum depth: 804.620473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 715.653230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050774; longitude = -121.073964; captureRadius = 10; duration = 211; initialDepth = 689.294479; finalDepth = 715.653230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.9672429999999 # Actual altitude: 88.9672429999999 # Commanded vehicle depth: 715.65323 # Seafloor depth: -804.620473 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.59; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.772443 meters # Minimum depth: 764.294479 meters looking forward 100.000000 meters along route # Maximum depth: 787.236353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 689.294479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050095; longitude = -121.074764; captureRadius = 10; duration = 209; initialDepth = 689.195504; finalDepth = 689.294479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.941874 # Actual altitude: 97.941874 # Commanded vehicle depth: 689.294479 # Seafloor depth: -787.236353 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.18; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 109.229545 meters # Minimum depth: 764.195504 meters looking forward 100.000000 meters along route # Maximum depth: 768.975711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 689.195504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049421; longitude = -121.075560; captureRadius = 10; duration = 218; initialDepth = 695.325830; finalDepth = 689.195504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.941874 # Actual altitude: 97.941874 # Commanded vehicle depth: 689.195504 # Seafloor depth: -764.569201 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.18; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.069657 meters # Minimum depth: 770.325830 meters looking forward 100.000000 meters along route # Maximum depth: 790.438220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 695.325830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048719; longitude = -121.076389; captureRadius = 10; duration = 202; initialDepth = 715.854911; finalDepth = 695.325830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.373697 # Actual altitude: 75.373697 # Commanded vehicle depth: 695.32583 # Seafloor depth: -770.325830 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 301.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 112.933867 meters # Minimum depth: 790.854911 meters looking forward 100.000000 meters along route # Maximum depth: 809.289972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 715.854911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048069; longitude = -121.077156; captureRadius = 10; duration = 225; initialDepth = 734.413715; finalDepth = 715.854911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 715.854911 # Seafloor depth: -790.854911 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 111.386916 meters # Minimum depth: 809.413715 meters looking forward 100.000000 meters along route # Maximum depth: 824.751697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 734.413715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047342; longitude = -121.078013; captureRadius = 10; duration = 222; initialDepth = 751.653280; finalDepth = 734.413715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 734.413715 # Seafloor depth: -809.413715 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.618143 meters # Minimum depth: 826.653280 meters looking forward 100.000000 meters along route # Maximum depth: 835.911720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 751.653280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046626; longitude = -121.078858; captureRadius = 10; duration = 205; initialDepth = 758.995892; finalDepth = 751.653280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 751.65328 # Seafloor depth: -826.653280 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 107.684123 meters # Minimum depth: 833.995892 meters looking forward 100.000000 meters along route # Maximum depth: 840.164792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 758.995892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045966; longitude = -121.079637; captureRadius = 10; duration = 215; initialDepth = 762.896803; finalDepth = 758.995892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 758.995892 # Seafloor depth: -833.995892 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.322472 meters # Minimum depth: 837.896803 meters looking forward 100.000000 meters along route # Maximum depth: 844.080208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 762.896803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045273; longitude = -121.080454; captureRadius = 10; duration = 212; initialDepth = 770.330894; finalDepth = 762.896803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.830695 # Actual altitude: 75.830695 # Commanded vehicle depth: 762.896803 # Seafloor depth: -838.727498 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 303.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.981278 meters # Minimum depth: 845.330894 meters looking forward 100.000000 meters along route # Maximum depth: 852.635054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 770.330894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044589; longitude = -121.081261; captureRadius = 10; duration = 207; initialDepth = 776.495985; finalDepth = 770.330894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.830695 # Actual altitude: 75.830695 # Commanded vehicle depth: 770.330894 # Seafloor depth: -845.330894 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 303.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 110.026853 meters # Minimum depth: 851.495985 meters looking forward 100.000000 meters along route # Maximum depth: 862.290949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 776.495985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043921; longitude = -121.082050; captureRadius = 10; duration = 220; initialDepth = 788.864848; finalDepth = 776.495985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 776.495985 # Seafloor depth: -851.495985 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.278380 meters # Minimum depth: 863.864848 meters looking forward 100.000000 meters along route # Maximum depth: 875.165698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 788.864848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043213; longitude = -121.082885; captureRadius = 10; duration = 200; initialDepth = 800.250267; finalDepth = 788.864848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 788.864848 # Seafloor depth: -863.864848 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 112.163397 meters # Minimum depth: 875.250267 meters looking forward 100.000000 meters along route # Maximum depth: 885.547655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 800.250267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042568; longitude = -121.083646; captureRadius = 10; duration = 224; initialDepth = 812.650300; finalDepth = 800.250267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 800.250267 # Seafloor depth: -875.250267 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.439594 meters # Minimum depth: 887.650300 meters looking forward 100.000000 meters along route # Maximum depth: 893.516164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 812.650300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041847; longitude = -121.084497; captureRadius = 10; duration = 202; initialDepth = 818.215703; finalDepth = 812.650300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 812.6503 # Seafloor depth: -887.650300 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 108.867914 meters # Minimum depth: 893.215703 meters looking forward 100.000000 meters along route # Maximum depth: 895.948415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 818.215703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041194; longitude = -121.085267; captureRadius = 10; duration = 217; initialDepth = 818.455834; finalDepth = 818.215703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.452353 # Actual altitude: 75.452353 # Commanded vehicle depth: 818.215703 # Seafloor depth: -893.668056 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.18; MB_Bottom_Detect_Filter_Max_Range = 301.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.144006 meters # Minimum depth: 893.455834 meters looking forward 100.000000 meters along route # Maximum depth: 898.356797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 818.455834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040494; longitude = -121.086093; captureRadius = 10; duration = 210; initialDepth = 822.692408; finalDepth = 818.455834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.452353 # Actual altitude: 75.452353 # Commanded vehicle depth: 818.455834 # Seafloor depth: -893.455834 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.18; MB_Bottom_Detect_Filter_Max_Range = 301.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.164985 meters # Minimum depth: 897.692408 meters looking forward 100.000000 meters along route # Maximum depth: 905.094678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 822.692408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039818; longitude = -121.086891; captureRadius = 10; duration = 210; initialDepth = 828.202283; finalDepth = 822.692408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 822.692408 # Seafloor depth: -897.692408 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 108.848472 meters # Minimum depth: 903.202283 meters looking forward 100.000000 meters along route # Maximum depth: 908.885820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 828.202283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039142; longitude = -121.087689; captureRadius = 10; duration = 217; initialDepth = 833.965956; finalDepth = 828.202283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 828.202283 # Seafloor depth: -903.202283 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.462003 meters # Minimum depth: 908.965956 meters looking forward 100.000000 meters along route # Maximum depth: 920.320808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 833.965956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038441; longitude = -121.088516; captureRadius = 10; duration = 202; initialDepth = 845.476278; finalDepth = 833.965956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 833.965956 # Seafloor depth: -908.965956 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 112.552989 meters # Minimum depth: 920.476278 meters looking forward 100.000000 meters along route # Maximum depth: 939.948722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 845.476278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037789; longitude = -121.089286; captureRadius = 10; duration = 225; initialDepth = 863.980500; finalDepth = 845.476278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 845.476278 # Seafloor depth: -920.476278 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 111.779819 meters # Minimum depth: 938.980500 meters looking forward 100.000000 meters along route # Maximum depth: 945.757409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 863.980500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037065; longitude = -121.090140; captureRadius = 10; duration = 223; initialDepth = 871.912285; finalDepth = 863.980500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.041958 # Actual altitude: 76.041958 # Commanded vehicle depth: 863.9805 # Seafloor depth: -940.022458 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 304.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.236710 meters # Minimum depth: 946.912285 meters looking forward 100.000000 meters along route # Maximum depth: 954.094583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 871.912285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036346; longitude = -121.090988; captureRadius = 10; duration = 204; initialDepth = 879.002363; finalDepth = 871.912285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.041958 # Actual altitude: 76.041958 # Commanded vehicle depth: 871.912285 # Seafloor depth: -946.912285 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 304.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 108.076830 meters # Minimum depth: 954.002363 meters looking forward 100.000000 meters along route # Maximum depth: 957.393867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 879.002363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035689; longitude = -121.091764; captureRadius = 10; duration = 216; initialDepth = 882.023658; finalDepth = 879.002363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2236150000001 # Actual altitude: 75.2236150000001 # Commanded vehicle depth: 879.002363 # Seafloor depth: -954.225978 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 300.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.941235 meters # Minimum depth: 957.023658 meters looking forward 100.000000 meters along route # Maximum depth: 964.736407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 882.023658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034994; longitude = -121.092584; captureRadius = 10; duration = 211; initialDepth = 888.689891; finalDepth = 882.023658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2236150000001 # Actual altitude: 75.2236150000001 # Commanded vehicle depth: 882.023658 # Seafloor depth: -957.023658 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 300.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.373790 meters # Minimum depth: 963.689891 meters looking forward 100.000000 meters along route # Maximum depth: 976.196602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 888.689891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034312; longitude = -121.093388; captureRadius = 10; duration = 208; initialDepth = 899.839684; finalDepth = 888.689891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.210918 # Actual altitude: 76.210918 # Commanded vehicle depth: 888.689891 # Seafloor depth: -964.900809 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.48; MB_Bottom_Detect_Filter_Max_Range = 304.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 109.645812 meters # Minimum depth: 974.839684 meters looking forward 100.000000 meters along route # Maximum depth: 993.227432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 899.839684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033641; longitude = -121.094180; captureRadius = 10; duration = 219; initialDepth = 910.136700; finalDepth = 899.839684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.7135089999999 # Actual altitude: 76.7135089999999 # Commanded vehicle depth: 899.839684 # Seafloor depth: -976.553193 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 306.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.670696 meters # Minimum depth: 985.136700 meters looking forward 100.000000 meters along route # Maximum depth: 988.884889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 910.136700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032936; longitude = -121.095012; captureRadius = 10; duration = 201; initialDepth = 908.924769; finalDepth = 910.136700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.7135089999999 # Actual altitude: 76.7135089999999 # Commanded vehicle depth: 910.1367 # Seafloor depth: -985.651619 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 306.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 112.169411 meters # Minimum depth: 983.924769 meters looking forward 100.000000 meters along route # Maximum depth: 990.780246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 908.924769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032288; longitude = -121.095776; captureRadius = 10; duration = 224; initialDepth = 891.770678; finalDepth = 908.924769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.958423 # Actual altitude: 78.958423 # Commanded vehicle depth: 908.924769 # Seafloor depth: -987.883192 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.58; MB_Bottom_Detect_Filter_Max_Range = 315.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.058088 meters # Minimum depth: 966.770678 meters looking forward 100.000000 meters along route # Maximum depth: 982.508646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 891.770678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031567; longitude = -121.096627; captureRadius = 10; duration = 202; initialDepth = 882.526447; finalDepth = 891.770678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.737968 # Actual altitude: 90.737968 # Commanded vehicle depth: 891.770678 # Seafloor depth: -982.508646 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.30; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 109.260695 meters # Minimum depth: 957.526447 meters looking forward 100.000000 meters along route # Maximum depth: 966.691063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 882.526447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030917; longitude = -121.097394; captureRadius = 10; duration = 218; initialDepth = 863.682992; finalDepth = 882.526447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.737968 # Actual altitude: 90.737968 # Commanded vehicle depth: 882.526447 # Seafloor depth: -966.691063 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.30; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.762697 meters # Minimum depth: 938.682992 meters looking forward 100.000000 meters along route # Maximum depth: 956.605690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 863.682992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030214; longitude = -121.098223; captureRadius = 10; duration = 209; initialDepth = 822.555688; finalDepth = 863.682992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.922698 # Actual altitude: 92.922698 # Commanded vehicle depth: 863.682992 # Seafloor depth: -956.605690 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.17; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.557570 meters # Minimum depth: 897.555688 meters looking forward 100.000000 meters along route # Maximum depth: 937.020630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 822.555688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029541; longitude = -121.099018; captureRadius = 10; duration = 211; initialDepth = 809.785006; finalDepth = 822.555688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.464942 # Actual altitude: 100 # Commanded vehicle depth: 822.555688 # Seafloor depth: -937.020630 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 108.467359 meters # Minimum depth: 884.785006 meters looking forward 100.000000 meters along route # Maximum depth: 895.329214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 809.785006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028862; longitude = -121.099819; captureRadius = 10; duration = 216; initialDepth = 819.136803; finalDepth = 809.785006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.464942 # Actual altitude: 100 # Commanded vehicle depth: 809.785006 # Seafloor depth: -895.329214 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.854392 meters # Minimum depth: 894.136803 meters looking forward 100.000000 meters along route # Maximum depth: 913.184953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 819.136803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028164; longitude = -121.100642; captureRadius = 10; duration = 203; initialDepth = 838.786932; finalDepth = 819.136803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.544208 # Actual altitude: 85.544208 # Commanded vehicle depth: 819.136803 # Seafloor depth: -894.136803 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 342.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.22; MB_Bottom_Detect_Filter_Max_Range = 342.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 107.480587 meters # Minimum depth: 913.786932 meters looking forward 100.000000 meters along route # Maximum depth: 931.666598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 838.786932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027509; longitude = -121.101415; captureRadius = 10; duration = 214; initialDepth = 854.326431; finalDepth = 838.786932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 838.786932 # Seafloor depth: -913.786932 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 148.893421 meters # Minimum depth: 929.326431 meters looking forward 100.000000 meters along route # Maximum depth: 945.768845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 854.326431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026818; longitude = -121.102231; captureRadius = 10; duration = 297; # abortOnTimeout = True; initialDepth = 852.490768; finalDepth = 854.326431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 854.326431 # Seafloor depth: -929.326431 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.660650 meters # Minimum depth: 927.490768 meters looking forward 100.000000 meters along route # Maximum depth: 936.143039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 852.490768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027785; longitude = -121.103349; captureRadius = 10; duration = 211; initialDepth = 811.787806; finalDepth = 852.490768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 82.960091 # Actual altitude: 82.960091 # Commanded vehicle depth: 852.490768 # Seafloor depth: -935.450859 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 331.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 331.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 118.254524 meters # Minimum depth: 886.787806 meters looking forward 100.000000 meters along route # Maximum depth: 936.632812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 811.787806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028471; longitude = -121.104143; captureRadius = 10; duration = 236; # abortOnTimeout = True; initialDepth = 809.934740; finalDepth = 811.787806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 124.845006 # Actual altitude: 100 # Commanded vehicle depth: 811.787806 # Seafloor depth: -936.632812 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 111.897265 meters # Minimum depth: 884.934740 meters looking forward 100.000000 meters along route # Maximum depth: 904.754148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 809.934740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029228; longitude = -121.103241; captureRadius = 10; duration = 223; initialDepth = 830.512849; finalDepth = 809.934740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 124.845006 # Actual altitude: 100 # Commanded vehicle depth: 809.93474 # Seafloor depth: -886.622987 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.050968 meters # Minimum depth: 905.512849 meters looking forward 100.000000 meters along route # Maximum depth: 917.523537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 830.512849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029944; longitude = -121.102388; captureRadius = 10; duration = 202; initialDepth = 842.931015; finalDepth = 830.512849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6882469999999 # Actual altitude: 76.6882469999999 # Commanded vehicle depth: 830.512849 # Seafloor depth: -905.512849 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 306.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 306.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 110.302880 meters # Minimum depth: 917.931015 meters looking forward 100.000000 meters along route # Maximum depth: 942.425121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 842.931015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030591; longitude = -121.101617; captureRadius = 10; duration = 220; initialDepth = 869.291774; finalDepth = 842.931015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 842.931015 # Seafloor depth: -917.931015 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.643822 meters # Minimum depth: 944.291774 meters looking forward 100.000000 meters along route # Maximum depth: 980.524390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 869.291774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031296; longitude = -121.100776; captureRadius = 10; duration = 205; initialDepth = 906.212770; finalDepth = 869.291774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 869.291774 # Seafloor depth: -944.291774 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 108.708518 meters # Minimum depth: 981.212770 meters looking forward 100.000000 meters along route # Maximum depth: 1002.748849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 906.212770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031953; longitude = -121.099993; captureRadius = 10; duration = 217; initialDepth = 926.825862; finalDepth = 906.212770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 906.21277 # Seafloor depth: -981.212770 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.236655 meters # Minimum depth: 1001.825862 meters looking forward 100.000000 meters along route # Maximum depth: 1010.438296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 926.825862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032649; longitude = -121.099164; captureRadius = 10; duration = 208; initialDepth = 931.346621; finalDepth = 926.825862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 926.825862 # Seafloor depth: -1001.825862 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 107.114179 meters # Minimum depth: 1006.346621 meters looking forward 100.000000 meters along route # Maximum depth: 1009.673521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 931.346621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033316; longitude = -121.098369; captureRadius = 10; duration = 214; initialDepth = 887.887705; finalDepth = 931.346621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.3269 # Actual altitude: 78.3269 # Commanded vehicle depth: 931.346621 # Seafloor depth: -1009.673521 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 313.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.829465 meters # Minimum depth: 962.887705 meters looking forward 100.000000 meters along route # Maximum depth: 1004.102171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 887.887705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034002; longitude = -121.097552; captureRadius = 10; duration = 211; initialDepth = 836.529904; finalDepth = 887.887705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 116.214466 # Actual altitude: 100 # Commanded vehicle depth: 887.887705 # Seafloor depth: -1004.102171 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.519862 meters # Minimum depth: 911.529904 meters looking forward 100.000000 meters along route # Maximum depth: 958.892028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 836.529904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034679; longitude = -121.096745; captureRadius = 10; duration = 211; initialDepth = 814.721671; finalDepth = 836.529904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.362124 # Actual altitude: 100 # Commanded vehicle depth: 836.529904 # Seafloor depth: -958.892028 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 107.422251 meters # Minimum depth: 889.721671 meters looking forward 100.000000 meters along route # Maximum depth: 909.165621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 814.721671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035354; longitude = -121.095940; captureRadius = 10; duration = 214; initialDepth = 812.053155; finalDepth = 814.721671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.362124 # Actual altitude: 100 # Commanded vehicle depth: 814.721671 # Seafloor depth: -909.165621 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.925568 meters # Minimum depth: 887.053155 meters looking forward 100.000000 meters along route # Maximum depth: 902.642878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 812.053155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036042; longitude = -121.095120; captureRadius = 10; duration = 207; initialDepth = 831.675871; finalDepth = 812.053155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.44395 # Actual altitude: 94.44395 # Commanded vehicle depth: 812.053155 # Seafloor depth: -887.346504 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.78; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 109.015016 meters # Minimum depth: 906.675871 meters looking forward 100.000000 meters along route # Maximum depth: 942.824470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 831.675871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036707; longitude = -121.094328; captureRadius = 10; duration = 218; initialDepth = 870.262981; finalDepth = 831.675871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.293349 # Actual altitude: 75.293349 # Commanded vehicle depth: 831.675871 # Seafloor depth: -906.675871 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 301.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.331298 meters # Minimum depth: 945.262981 meters looking forward 100.000000 meters along route # Maximum depth: 955.997260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 870.262981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037405; longitude = -121.093496; captureRadius = 10; duration = 204; initialDepth = 874.119458; finalDepth = 870.262981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 870.262981 # Seafloor depth: -945.262981 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 110.607757 meters # Minimum depth: 949.119458 meters looking forward 100.000000 meters along route # Maximum depth: 956.063399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 874.119458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038059; longitude = -121.092716; captureRadius = 10; duration = 221; initialDepth = 858.806748; finalDepth = 874.119458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.754591 # Actual altitude: 80.754591 # Commanded vehicle depth: 874.119458 # Seafloor depth: -954.874049 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 323.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.30; MB_Bottom_Detect_Filter_Max_Range = 323.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.737049 meters # Minimum depth: 933.806748 meters looking forward 100.000000 meters along route # Maximum depth: 947.417857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 858.806748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038767; longitude = -121.091872; captureRadius = 10; duration = 201; initialDepth = 846.461261; finalDepth = 858.806748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.6111090000001 # Actual altitude: 88.6111090000001 # Commanded vehicle depth: 858.806748 # Seafloor depth: -947.417857 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.44; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 112.716614 meters # Minimum depth: 921.461261 meters looking forward 100.000000 meters along route # Maximum depth: 933.434215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 846.461261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039412; longitude = -121.091104; captureRadius = 10; duration = 225; initialDepth = 853.625842; finalDepth = 846.461261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.6111090000001 # Actual altitude: 88.6111090000001 # Commanded vehicle depth: 846.461261 # Seafloor depth: -933.434215 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.44; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 113.049916 meters # Minimum depth: 928.625842 meters looking forward 100.000000 meters along route # Maximum depth: 931.918671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 853.625842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040133; longitude = -121.090244; captureRadius = 10; duration = 226; initialDepth = 848.242171; finalDepth = 853.625842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.972954 # Actual altitude: 86.972954 # Commanded vehicle depth: 853.625842 # Seafloor depth: -931.238146 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 347.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.79; MB_Bottom_Detect_Filter_Max_Range = 347.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 113.565620 meters # Minimum depth: 923.242171 meters looking forward 100.000000 meters along route # Maximum depth: 928.603634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 848.242171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040857; longitude = -121.089382; captureRadius = 10; duration = 227; initialDepth = 844.633477; finalDepth = 848.242171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.3614630000001 # Actual altitude: 80.3614630000001 # Commanded vehicle depth: 848.242171 # Seafloor depth: -928.603634 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.14; MB_Bottom_Detect_Filter_Max_Range = 321.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 111.531736 meters # Minimum depth: 919.633477 meters looking forward 100.000000 meters along route # Maximum depth: 923.240941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 844.633477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041584; longitude = -121.088516; captureRadius = 10; duration = 223; initialDepth = 840.524716; finalDepth = 844.633477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.3614630000001 # Actual altitude: 80.3614630000001 # Commanded vehicle depth: 844.633477 # Seafloor depth: -923.240941 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.14; MB_Bottom_Detect_Filter_Max_Range = 321.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.402629 meters # Minimum depth: 915.524716 meters looking forward 100.000000 meters along route # Maximum depth: 920.128016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 840.524716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042298; longitude = -121.087665; captureRadius = 10; duration = 202; initialDepth = 832.764793; finalDepth = 840.524716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.6033 # Actual altitude: 79.6033 # Commanded vehicle depth: 840.524716 # Seafloor depth: -920.128016 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.84; MB_Bottom_Detect_Filter_Max_Range = 318.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 109.937457 meters # Minimum depth: 907.764793 meters looking forward 100.000000 meters along route # Maximum depth: 915.349856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 832.764793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042947; longitude = -121.086891; captureRadius = 10; duration = 219; initialDepth = 828.703493; finalDepth = 832.764793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.585063 # Actual altitude: 82.585063 # Commanded vehicle depth: 832.764793 # Seafloor depth: -915.349856 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.03; MB_Bottom_Detect_Filter_Max_Range = 330.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.995378 meters # Minimum depth: 903.703493 meters looking forward 100.000000 meters along route # Maximum depth: 908.721283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 828.703493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043650; longitude = -121.086053; captureRadius = 10; duration = 205; initialDepth = 817.872970; finalDepth = 828.703493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.585063 # Actual altitude: 82.585063 # Commanded vehicle depth: 828.703493 # Seafloor depth: -907.643235 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.03; MB_Bottom_Detect_Filter_Max_Range = 330.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 108.343201 meters # Minimum depth: 892.872970 meters looking forward 100.000000 meters along route # Maximum depth: 903.960249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 817.872970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044309; longitude = -121.085267; captureRadius = 10; duration = 216; initialDepth = 804.190357; finalDepth = 817.872970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.087279 # Actual altitude: 86.087279 # Commanded vehicle depth: 817.87297 # Seafloor depth: -903.960249 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 344.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.43; MB_Bottom_Detect_Filter_Max_Range = 344.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.588105 meters # Minimum depth: 879.190357 meters looking forward 100.000000 meters along route # Maximum depth: 890.656541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 804.190357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045003; longitude = -121.084441; captureRadius = 10; duration = 209; initialDepth = 795.419800; finalDepth = 804.190357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.466184 # Actual altitude: 86.466184 # Commanded vehicle depth: 804.190357 # Seafloor depth: -890.656541 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 345.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 345.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 106.748969 meters # Minimum depth: 870.419800 meters looking forward 100.000000 meters along route # Maximum depth: 880.087112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 795.419800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045672; longitude = -121.083643; captureRadius = 10; duration = 213; initialDepth = 795.536797; finalDepth = 795.419800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.466184 # Actual altitude: 86.466184 # Commanded vehicle depth: 795.4198 # Seafloor depth: -880.087112 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 345.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 345.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 106.180808 meters # Minimum depth: 870.536797 meters looking forward 100.000000 meters along route # Maximum depth: 873.231299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 795.536797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046355; longitude = -121.082829; captureRadius = 10; duration = 212; initialDepth = 790.797559; finalDepth = 795.536797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.667312 # Actual altitude: 84.667312 # Commanded vehicle depth: 795.536797 # Seafloor depth: -871.682505 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 338.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.87; MB_Bottom_Detect_Filter_Max_Range = 338.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.154759 meters # Minimum depth: 865.797559 meters looking forward 100.000000 meters along route # Maximum depth: 869.916469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 790.797559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047035; longitude = -121.082019; captureRadius = 10; duration = 210; initialDepth = 785.529358; finalDepth = 790.797559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.11891 # Actual altitude: 79.11891 # Commanded vehicle depth: 790.797559 # Seafloor depth: -869.916469 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.65; MB_Bottom_Detect_Filter_Max_Range = 316.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 107.773489 meters # Minimum depth: 860.529358 meters looking forward 100.000000 meters along route # Maximum depth: 868.022719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 785.529358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047708; longitude = -121.081217; captureRadius = 10; duration = 215; initialDepth = 770.299047; finalDepth = 785.529358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.0913859999999 # Actual altitude: 81.0913859999999 # Commanded vehicle depth: 785.529358 # Seafloor depth: -866.620744 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 324.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.44; MB_Bottom_Detect_Filter_Max_Range = 324.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.560571 meters # Minimum depth: 845.299047 meters looking forward 100.000000 meters along route # Maximum depth: 859.944304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 770.299047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048398; longitude = -121.080395; captureRadius = 10; duration = 207; initialDepth = 756.216446; finalDepth = 770.299047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.645257 # Actual altitude: 89.645257 # Commanded vehicle depth: 770.299047 # Seafloor depth: -859.944304 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.86; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 109.366147 meters # Minimum depth: 831.216446 meters looking forward 100.000000 meters along route # Maximum depth: 844.861997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 756.216446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049061; longitude = -121.079605; captureRadius = 10; duration = 218; initialDepth = 729.328554; finalDepth = 756.216446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.645257 # Actual altitude: 89.645257 # Commanded vehicle depth: 756.216446 # Seafloor depth: -844.861997 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.86; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.966408 meters # Minimum depth: 804.328554 meters looking forward 100.000000 meters along route # Maximum depth: 826.536433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 729.328554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049761; longitude = -121.078771; captureRadius = 10; duration = 203; initialDepth = 717.652318; finalDepth = 729.328554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.2078789999999 # Actual altitude: 97.2078789999999 # Commanded vehicle depth: 729.328554 # Seafloor depth: -826.536433 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.88; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 110.958782 meters # Minimum depth: 792.652318 meters looking forward 100.000000 meters along route # Maximum depth: 803.631168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 717.652318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050413; longitude = -121.077993; captureRadius = 10; duration = 221; initialDepth = 723.264700; finalDepth = 717.652318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.2078789999999 # Actual altitude: 97.2078789999999 # Commanded vehicle depth: 717.652318 # Seafloor depth: -803.631168 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.88; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.372266 meters # Minimum depth: 798.264700 meters looking forward 100.000000 meters along route # Maximum depth: 823.959266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 723.264700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051123; longitude = -121.077147; captureRadius = 10; duration = 200; initialDepth = 749.375171; finalDepth = 723.264700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.97885 # Actual altitude: 85.97885 # Commanded vehicle depth: 723.2647 # Seafloor depth: -798.264700 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.39; MB_Bottom_Detect_Filter_Max_Range = 343.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 112.709277 meters # Minimum depth: 824.375171 meters looking forward 100.000000 meters along route # Maximum depth: 864.381382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 749.375171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051766; longitude = -121.076381; captureRadius = 10; duration = 225; initialDepth = 789.448702; finalDepth = 749.375171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 749.375171 # Seafloor depth: -824.375171 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 112.708849 meters # Minimum depth: 864.448702 meters looking forward 100.000000 meters along route # Maximum depth: 888.050174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 789.448702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052487; longitude = -121.075521; captureRadius = 10; duration = 225; initialDepth = 814.399141; finalDepth = 789.448702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 789.448702 # Seafloor depth: -864.448702 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.055402 meters # Minimum depth: 889.399141 meters looking forward 100.000000 meters along route # Maximum depth: 904.115113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 814.399141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053209; longitude = -121.074661; captureRadius = 10; duration = 200; initialDepth = 829.418574; finalDepth = 814.399141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 814.399141 # Seafloor depth: -889.399141 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 111.272534 meters # Minimum depth: 904.418574 meters looking forward 100.000000 meters along route # Maximum depth: 925.624270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 829.418574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053849; longitude = -121.073898; captureRadius = 10; duration = 222; initialDepth = 852.303045; finalDepth = 829.418574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 829.418574 # Seafloor depth: -904.418574 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.648069 meters # Minimum depth: 927.303045 meters looking forward 100.000000 meters along route # Maximum depth: 944.326637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 852.303045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054561; longitude = -121.073049; captureRadius = 10; duration = 203; initialDepth = 869.854507; finalDepth = 852.303045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 852.303045 # Seafloor depth: -927.303045 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 109.678361 meters # Minimum depth: 944.854507 meters looking forward 100.000000 meters along route # Maximum depth: 954.630539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 869.854507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055212; longitude = -121.072274; captureRadius = 10; duration = 219; initialDepth = 879.799248; finalDepth = 869.854507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 869.854507 # Seafloor depth: -944.854507 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.240714 meters # Minimum depth: 954.799248 meters looking forward 100.000000 meters along route # Maximum depth: 961.552459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 879.799248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055914; longitude = -121.071438; captureRadius = 10; duration = 206; initialDepth = 888.783167; finalDepth = 879.799248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 879.799248 # Seafloor depth: -954.799248 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 108.084210 meters # Minimum depth: 963.783167 meters looking forward 100.000000 meters along route # Maximum depth: 970.376269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 888.783167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056575; longitude = -121.070650; captureRadius = 10; duration = 216; initialDepth = 884.832473; finalDepth = 888.783167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 888.783167 # Seafloor depth: -963.783167 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.833336 meters # Minimum depth: 959.832473 meters looking forward 100.000000 meters along route # Maximum depth: 966.766259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 884.832473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057266; longitude = -121.069826; captureRadius = 10; duration = 209; initialDepth = 889.689445; finalDepth = 884.832473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.9337859999999 # Actual altitude: 81.9337859999999 # Commanded vehicle depth: 884.832473 # Seafloor depth: -966.766259 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.77; MB_Bottom_Detect_Filter_Max_Range = 327.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 106.490082 meters # Minimum depth: 964.689445 meters looking forward 100.000000 meters along route # Maximum depth: 967.841852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 889.689445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057937; longitude = -121.069026; captureRadius = 10; duration = 212; initialDepth = 879.914616; finalDepth = 889.689445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.9337859999999 # Actual altitude: 81.9337859999999 # Commanded vehicle depth: 889.689445 # Seafloor depth: -964.689445 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.77; MB_Bottom_Detect_Filter_Max_Range = 327.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 106.425936 meters # Minimum depth: 954.914616 meters looking forward 100.000000 meters along route # Maximum depth: 965.668609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 879.914616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058619; longitude = -121.068214; captureRadius = 10; duration = 212; initialDepth = 872.796421; finalDepth = 879.914616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.7539929999999 # Actual altitude: 85.7539929999999 # Commanded vehicle depth: 879.914616 # Seafloor depth: -965.668609 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.30; MB_Bottom_Detect_Filter_Max_Range = 343.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.895977 meters # Minimum depth: 947.796421 meters looking forward 100.000000 meters along route # Maximum depth: 954.389989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 872.796421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059300; longitude = -121.067402; captureRadius = 10; duration = 209; initialDepth = 857.462689; finalDepth = 872.796421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.7539929999999 # Actual altitude: 85.7539929999999 # Commanded vehicle depth: 872.796421 # Seafloor depth: -954.389989 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.30; MB_Bottom_Detect_Filter_Max_Range = 343.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 108.018512 meters # Minimum depth: 932.462689 meters looking forward 100.000000 meters along route # Maximum depth: 947.376726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 857.462689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059972; longitude = -121.066602; captureRadius = 10; duration = 216; initialDepth = 851.842051; finalDepth = 857.462689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.914037 # Actual altitude: 89.914037 # Commanded vehicle depth: 857.462689 # Seafloor depth: -947.376726 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.97; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.301895 meters # Minimum depth: 926.842051 meters looking forward 100.000000 meters along route # Maximum depth: 929.003670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 851.842051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060663; longitude = -121.065778; captureRadius = 10; duration = 206; initialDepth = 853.274506; finalDepth = 851.842051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.914037 # Actual altitude: 89.914037 # Commanded vehicle depth: 851.842051 # Seafloor depth: -929.003670 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.97; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 109.611065 meters # Minimum depth: 928.274506 meters looking forward 100.000000 meters along route # Maximum depth: 938.570793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 853.274506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061324; longitude = -121.064990; captureRadius = 10; duration = 219; initialDepth = 858.519443; finalDepth = 853.274506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1616190000001 # Actual altitude: 77.1616190000001 # Commanded vehicle depth: 853.274506 # Seafloor depth: -928.366350 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.86; MB_Bottom_Detect_Filter_Max_Range = 308.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.707837 meters # Minimum depth: 933.519443 meters looking forward 100.000000 meters along route # Maximum depth: 939.438659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 858.519443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062026; longitude = -121.064153; captureRadius = 10; duration = 203; initialDepth = 858.369007; finalDepth = 858.519443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.540497 # Actual altitude: 79.540497 # Commanded vehicle depth: 858.519443 # Seafloor depth: -938.059940 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.82; MB_Bottom_Detect_Filter_Max_Range = 318.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 111.203595 meters # Minimum depth: 933.369007 meters looking forward 100.000000 meters along route # Maximum depth: 935.930751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 858.369007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062677; longitude = -121.063378; captureRadius = 10; duration = 222; initialDepth = 853.740308; finalDepth = 858.369007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.540497 # Actual altitude: 79.540497 # Commanded vehicle depth: 858.369007 # Seafloor depth: -933.369007 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.82; MB_Bottom_Detect_Filter_Max_Range = 318.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.113800 meters # Minimum depth: 928.740308 meters looking forward 100.000000 meters along route # Maximum depth: 932.969344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 853.740308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063389; longitude = -121.062529; captureRadius = 10; duration = 200; initialDepth = 837.466261; finalDepth = 853.740308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.229036 # Actual altitude: 79.229036 # Commanded vehicle depth: 853.740308 # Seafloor depth: -932.969344 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.69; MB_Bottom_Detect_Filter_Max_Range = 316.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.375399 meters # Minimum depth: 912.466261 meters looking forward 100.000000 meters along route # Maximum depth: 931.478606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 837.466261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064029; longitude = -121.061766; captureRadius = 10; duration = 206; initialDepth = 844.383911; finalDepth = 837.466261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 91.199307 # Actual altitude: 91.199307 # Commanded vehicle depth: 837.466261 # Seafloor depth: -928.665568 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.48; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 100.326241 meters # Minimum depth: 919.383911 meters looking forward 100.000000 meters along route # Maximum depth: 965.819647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 844.383911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064691; longitude = -121.060977; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 891.166805; finalDepth = 844.383911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.199307 # Actual altitude: 91.199307 # Commanded vehicle depth: 844.383911 # Seafloor depth: -919.383911 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.48; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.785611 meters # Minimum depth: 966.621265 meters looking forward 100.000000 meters along route # Maximum depth: 1001.184510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 891.166805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065308; longitude = -121.061771; captureRadius = 10; duration = 209; initialDepth = 923.651914; finalDepth = 891.166805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75.4544604168979 # Actual altitude: 75.4544604168979 # Commanded vehicle depth: 891.166804583102 # Seafloor depth: -966.621265 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.18; MB_Bottom_Detect_Filter_Max_Range = 301.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 89.667906 meters # Minimum depth: 998.651914 meters looking forward 100.000000 meters along route # Maximum depth: 1003.041505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 923.651914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065953; longitude = -121.062601; captureRadius = 10; duration = 179; # abortOnTimeout = True; initialDepth = 918.990983; finalDepth = 923.651914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.702456 # Actual altitude: 78.702456 # Commanded vehicle depth: 923.651914 # Seafloor depth: -1002.354370 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 314.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.48; MB_Bottom_Detect_Filter_Max_Range = 314.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 113.266258 meters # Minimum depth: 993.990983 meters looking forward 100.000000 meters along route # Maximum depth: 999.443881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 918.990983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065382; longitude = -121.063288; captureRadius = 10; duration = 226; initialDepth = 895.777016; finalDepth = 918.990983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.666837 # Actual altitude: 79.666837 # Commanded vehicle depth: 918.990983 # Seafloor depth: -998.657820 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.87; MB_Bottom_Detect_Filter_Max_Range = 318.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 113.266692 meters # Minimum depth: 970.777016 meters looking forward 100.000000 meters along route # Maximum depth: 995.795274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 895.777016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064661; longitude = -121.064157; captureRadius = 10; duration = 226; initialDepth = 859.322751; finalDepth = 895.777016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.018258 # Actual altitude: 100 # Commanded vehicle depth: 895.777016 # Seafloor depth: -995.795274 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 113.267128 meters # Minimum depth: 934.322751 meters looking forward 100.000000 meters along route # Maximum depth: 970.671279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 859.322751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063939; longitude = -121.065025; captureRadius = 10; duration = 226; initialDepth = 859.074103; finalDepth = 859.322751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.348528 # Actual altitude: 100 # Commanded vehicle depth: 859.322751 # Seafloor depth: -970.671279 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 111.963767 meters # Minimum depth: 934.074103 meters looking forward 100.000000 meters along route # Maximum depth: 960.202885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 859.074103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063218; longitude = -121.065894; captureRadius = 10; duration = 223; initialDepth = 862.844469; finalDepth = 859.074103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.348528 # Actual altitude: 100 # Commanded vehicle depth: 859.074103 # Seafloor depth: -934.074103 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.413269 meters # Minimum depth: 937.844469 meters looking forward 100.000000 meters along route # Maximum depth: 961.645041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 862.844469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062505; longitude = -121.066752; captureRadius = 10; duration = 200; initialDepth = 866.692958; finalDepth = 862.844469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.800572 # Actual altitude: 98.800572 # Commanded vehicle depth: 862.844469 # Seafloor depth: -961.645041 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.52; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 111.430498 meters # Minimum depth: 941.692958 meters looking forward 100.000000 meters along route # Maximum depth: 966.635387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 866.692958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061865; longitude = -121.067522; captureRadius = 10; duration = 222; initialDepth = 897.584136; finalDepth = 866.692958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.800572 # Actual altitude: 98.800572 # Commanded vehicle depth: 866.692958 # Seafloor depth: -941.692958 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.52; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.948067 meters # Minimum depth: 972.584136 meters looking forward 100.000000 meters along route # Maximum depth: 994.219638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 897.584136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061155; longitude = -121.068376; captureRadius = 10; duration = 201; initialDepth = 919.353032; finalDepth = 897.584136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 897.584136 # Seafloor depth: -972.584136 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 110.897222 meters # Minimum depth: 994.353032 meters looking forward 100.000000 meters along route # Maximum depth: 1015.689039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 919.353032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060513; longitude = -121.069150; captureRadius = 10; duration = 221; initialDepth = 941.650115; finalDepth = 919.353032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 919.353032 # Seafloor depth: -994.353032 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.482872 meters # Minimum depth: 1016.650115 meters looking forward 100.000000 meters along route # Maximum depth: 1025.417992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 941.650115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059806; longitude = -121.070000; captureRadius = 10; duration = 202; initialDepth = 949.915919; finalDepth = 941.650115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 941.650115 # Seafloor depth: -1016.650115 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 110.363939 meters # Minimum depth: 1024.915919 meters looking forward 100.000000 meters along route # Maximum depth: 1027.228506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 949.915919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059160; longitude = -121.070778; captureRadius = 10; duration = 220; initialDepth = 945.185336; finalDepth = 949.915919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.4597959999999 # Actual altitude: 75.4597959999999 # Commanded vehicle depth: 949.915919 # Seafloor depth: -1025.375715 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.18; MB_Bottom_Detect_Filter_Max_Range = 301.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.017685 meters # Minimum depth: 1020.185336 meters looking forward 100.000000 meters along route # Maximum depth: 1025.701503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 945.185336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058457; longitude = -121.071624; captureRadius = 10; duration = 204; initialDepth = 941.505129; finalDepth = 945.185336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.441198 # Actual altitude: 80.441198 # Commanded vehicle depth: 945.185336 # Seafloor depth: -1025.626534 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 321.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.18; MB_Bottom_Detect_Filter_Max_Range = 321.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 109.830647 meters # Minimum depth: 1016.505129 meters looking forward 100.000000 meters along route # Maximum depth: 1023.346890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 941.505129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057807; longitude = -121.072407; captureRadius = 10; duration = 219; initialDepth = 925.553288; finalDepth = 941.505129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.841761 # Actual altitude: 81.841761 # Commanded vehicle depth: 941.505129 # Seafloor depth: -1023.346890 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 327.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.74; MB_Bottom_Detect_Filter_Max_Range = 327.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.552506 meters # Minimum depth: 1000.553288 meters looking forward 100.000000 meters along route # Maximum depth: 1017.269039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 925.553288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057108; longitude = -121.073249; captureRadius = 10; duration = 205; initialDepth = 906.553361; finalDepth = 925.553288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.7157510000001 # Actual altitude: 91.7157510000001 # Commanded vehicle depth: 925.553288 # Seafloor depth: -1017.269039 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.69; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 109.297347 meters # Minimum depth: 981.553361 meters looking forward 100.000000 meters along route # Maximum depth: 999.933081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 906.553361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056455; longitude = -121.074035; captureRadius = 10; duration = 218; initialDepth = 851.707342; finalDepth = 906.553361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.37972 # Actual altitude: 93.37972 # Commanded vehicle depth: 906.553361 # Seafloor depth: -999.933081 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.35; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.087335 meters # Minimum depth: 926.707342 meters looking forward 100.000000 meters along route # Maximum depth: 979.193281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 851.707342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055759; longitude = -121.074873; captureRadius = 10; duration = 206; initialDepth = 814.041842; finalDepth = 851.707342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 127.485939 # Actual altitude: 100 # Commanded vehicle depth: 851.707342 # Seafloor depth: -979.193281 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 108.764041 meters # Minimum depth: 889.041842 meters looking forward 100.000000 meters along route # Maximum depth: 921.695968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 814.041842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055102; longitude = -121.075663; captureRadius = 10; duration = 217; initialDepth = 847.475940; finalDepth = 814.041842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 127.485939 # Actual altitude: 100 # Commanded vehicle depth: 814.041842 # Seafloor depth: -921.695968 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.622170 meters # Minimum depth: 922.475940 meters looking forward 100.000000 meters along route # Maximum depth: 935.074452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 847.475940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054410; longitude = -121.076497; captureRadius = 10; duration = 207; initialDepth = 839.682875; finalDepth = 847.475940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.654126 # Actual altitude: 100 # Commanded vehicle depth: 847.47594 # Seafloor depth: -922.475940 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 108.230727 meters # Minimum depth: 914.682875 meters looking forward 100.000000 meters along route # Maximum depth: 933.726579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 839.682875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053750; longitude = -121.077291; captureRadius = 10; duration = 216; initialDepth = 823.338933; finalDepth = 839.682875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.043704 # Actual altitude: 94.043704 # Commanded vehicle depth: 839.682875 # Seafloor depth: -933.726579 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.62; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.157015 meters # Minimum depth: 898.338933 meters looking forward 100.000000 meters along route # Maximum depth: 913.993533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 823.338933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053060; longitude = -121.078121; captureRadius = 10; duration = 208; initialDepth = 811.540169; finalDepth = 823.338933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.043704 # Actual altitude: 94.043704 # Commanded vehicle depth: 823.338933 # Seafloor depth: -913.993533 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.62; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 107.697404 meters # Minimum depth: 886.540169 meters looking forward 100.000000 meters along route # Maximum depth: 898.564777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 811.540169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052397; longitude = -121.078920; captureRadius = 10; duration = 215; initialDepth = 813.349595; finalDepth = 811.540169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.6546 # Actual altitude: 90.6546 # Commanded vehicle depth: 811.540169 # Seafloor depth: -898.564777 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.26; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.691866 meters # Minimum depth: 888.349595 meters looking forward 100.000000 meters along route # Maximum depth: 894.178655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 813.349595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051711; longitude = -121.079745; captureRadius = 10; duration = 209; initialDepth = 813.339821; finalDepth = 813.349595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.0246080000001 # Actual altitude: 87.0246080000001 # Commanded vehicle depth: 813.349595 # Seafloor depth: -888.349595 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 348.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.81; MB_Bottom_Detect_Filter_Max_Range = 348.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 107.164075 meters # Minimum depth: 888.339821 meters looking forward 100.000000 meters along route # Maximum depth: 894.804186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 813.339821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051044; longitude = -121.080548; captureRadius = 10; duration = 214; initialDepth = 812.109603; finalDepth = 813.339821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.632824 # Actual altitude: 80.632824 # Commanded vehicle depth: 813.339821 # Seafloor depth: -893.972645 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.25; MB_Bottom_Detect_Filter_Max_Range = 322.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.226726 meters # Minimum depth: 887.109603 meters looking forward 100.000000 meters along route # Maximum depth: 888.097302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 812.109603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050362; longitude = -121.081369; captureRadius = 10; duration = 210; initialDepth = 810.258558; finalDepth = 812.109603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.632824 # Actual altitude: 80.632824 # Commanded vehicle depth: 812.109603 # Seafloor depth: -888.097302 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 322.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.25; MB_Bottom_Detect_Filter_Max_Range = 322.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.630737 meters # Minimum depth: 885.258558 meters looking forward 100.000000 meters along route # Maximum depth: 887.045126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 810.258558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049692; longitude = -121.082176; captureRadius = 10; duration = 213; initialDepth = 810.409712; finalDepth = 810.258558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.327854 # Actual altitude: 76.327854 # Commanded vehicle depth: 810.258558 # Seafloor depth: -886.586412 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 305.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.53; MB_Bottom_Detect_Filter_Max_Range = 305.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.761593 meters # Minimum depth: 885.409712 meters looking forward 100.000000 meters along route # Maximum depth: 887.501871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 810.409712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049013; longitude = -121.082993; captureRadius = 10; duration = 211; initialDepth = 809.118177; finalDepth = 810.409712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.092159 # Actual altitude: 77.092159 # Commanded vehicle depth: 810.409712 # Seafloor depth: -887.501871 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.84; MB_Bottom_Detect_Filter_Max_Range = 308.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.097392 meters # Minimum depth: 884.118177 meters looking forward 100.000000 meters along route # Maximum depth: 886.200756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 809.118177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048339; longitude = -121.083804; captureRadius = 10; duration = 212; initialDepth = 800.268792; finalDepth = 809.118177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.092159 # Actual altitude: 77.092159 # Commanded vehicle depth: 809.118177 # Seafloor depth: -885.236558 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.84; MB_Bottom_Detect_Filter_Max_Range = 308.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.296467 meters # Minimum depth: 875.268792 meters looking forward 100.000000 meters along route # Maximum depth: 886.553085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 800.268792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047664; longitude = -121.084618; captureRadius = 10; duration = 212; initialDepth = 795.924924; finalDepth = 800.268792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.774664 # Actual altitude: 85.774664 # Commanded vehicle depth: 800.268792 # Seafloor depth: -886.043456 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.31; MB_Bottom_Detect_Filter_Max_Range = 343.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.564040 meters # Minimum depth: 870.924924 meters looking forward 100.000000 meters along route # Maximum depth: 881.193199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 795.924924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046987; longitude = -121.085432; captureRadius = 10; duration = 211; initialDepth = 807.027754; finalDepth = 795.924924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.774664 # Actual altitude: 85.774664 # Commanded vehicle depth: 795.924924 # Seafloor depth: -874.331774 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.31; MB_Bottom_Detect_Filter_Max_Range = 343.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.831350 meters # Minimum depth: 882.027754 meters looking forward 100.000000 meters along route # Maximum depth: 890.504683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 807.027754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046314; longitude = -121.086242; captureRadius = 10; duration = 213; initialDepth = 810.291934; finalDepth = 807.027754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.40685 # Actual altitude: 78.40685 # Commanded vehicle depth: 807.027754 # Seafloor depth: -882.027754 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.36; MB_Bottom_Detect_Filter_Max_Range = 313.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.030679 meters # Minimum depth: 885.291934 meters looking forward 100.000000 meters along route # Maximum depth: 893.508952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 810.291934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045634; longitude = -121.087061; captureRadius = 10; duration = 210; initialDepth = 818.667630; finalDepth = 810.291934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9225190000001 # Actual altitude: 75.9225190000001 # Commanded vehicle depth: 810.291934 # Seafloor depth: -886.214453 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.37; MB_Bottom_Detect_Filter_Max_Range = 303.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 107.366240 meters # Minimum depth: 893.667630 meters looking forward 100.000000 meters along route # Maximum depth: 899.431421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 818.667630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044965; longitude = -121.087866; captureRadius = 10; duration = 214; initialDepth = 826.007515; finalDepth = 818.667630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9225190000001 # Actual altitude: 75.9225190000001 # Commanded vehicle depth: 818.66763 # Seafloor depth: -893.667630 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.37; MB_Bottom_Detect_Filter_Max_Range = 303.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.497311 meters # Minimum depth: 901.007515 meters looking forward 100.000000 meters along route # Maximum depth: 917.460252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 826.007515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044281; longitude = -121.088689; captureRadius = 10; duration = 208; initialDepth = 842.486461; finalDepth = 826.007515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 826.007515 # Seafloor depth: -901.007515 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 107.901139 meters # Minimum depth: 917.486461 meters looking forward 100.000000 meters along route # Maximum depth: 925.037531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 842.486461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043616; longitude = -121.089490; captureRadius = 10; duration = 215; initialDepth = 849.620429; finalDepth = 842.486461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 842.486461 # Seafloor depth: -917.486461 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.963935 meters # Minimum depth: 924.620429 meters looking forward 100.000000 meters along route # Maximum depth: 932.480962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 849.620429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042929; longitude = -121.090317; captureRadius = 10; duration = 207; initialDepth = 858.132640; finalDepth = 849.620429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.4875330000001 # Actual altitude: 75.4875330000001 # Commanded vehicle depth: 849.620429 # Seafloor depth: -925.107962 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 301.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 108.436044 meters # Minimum depth: 933.132640 meters looking forward 100.000000 meters along route # Maximum depth: 946.237304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 858.132640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042267; longitude = -121.091114; captureRadius = 10; duration = 216; initialDepth = 865.860737; finalDepth = 858.132640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.4875330000001 # Actual altitude: 75.4875330000001 # Commanded vehicle depth: 858.13264 # Seafloor depth: -933.132640 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 301.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.430552 meters # Minimum depth: 940.860737 meters looking forward 100.000000 meters along route # Maximum depth: 953.935437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 865.860737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041576; longitude = -121.091945; captureRadius = 10; duration = 206; initialDepth = 879.487636; finalDepth = 865.860737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.128106 # Actual altitude: 79.128106 # Commanded vehicle depth: 865.860737 # Seafloor depth: -944.988843 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.65; MB_Bottom_Detect_Filter_Max_Range = 316.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 108.970957 meters # Minimum depth: 954.487636 meters looking forward 100.000000 meters along route # Maximum depth: 962.301247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 879.487636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040918; longitude = -121.092738; captureRadius = 10; duration = 217; initialDepth = 889.017703; finalDepth = 879.487636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.128106 # Actual altitude: 79.128106 # Commanded vehicle depth: 879.487636 # Seafloor depth: -954.487636 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.65; MB_Bottom_Detect_Filter_Max_Range = 316.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.897161 meters # Minimum depth: 964.017703 meters looking forward 100.000000 meters along route # Maximum depth: 992.690817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 889.017703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040224; longitude = -121.093574; captureRadius = 10; duration = 205; initialDepth = 914.094471; finalDepth = 889.017703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 889.017703 # Seafloor depth: -964.017703 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 109.505879 meters # Minimum depth: 989.094471 meters looking forward 100.000000 meters along route # Maximum depth: 993.950483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 914.094471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039568; longitude = -121.094362; captureRadius = 10; duration = 219; initialDepth = 903.754693; finalDepth = 914.094471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 914.094471 # Seafloor depth: -989.094471 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.363762 meters # Minimum depth: 978.754693 meters looking forward 100.000000 meters along route # Maximum depth: 991.855278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 903.754693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038871; longitude = -121.095202; captureRadius = 10; duration = 204; initialDepth = 893.055889; finalDepth = 903.754693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.100585 # Actual altitude: 88.100585 # Commanded vehicle depth: 903.754693 # Seafloor depth: -991.855278 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.24; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 110.040807 meters # Minimum depth: 968.055889 meters looking forward 100.000000 meters along route # Maximum depth: 978.347601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 893.055889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038219; longitude = -121.095987; captureRadius = 10; duration = 220; initialDepth = 897.835096; finalDepth = 893.055889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.100585 # Actual altitude: 88.100585 # Commanded vehicle depth: 893.055889 # Seafloor depth: -978.347601 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.24; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.830356 meters # Minimum depth: 972.835096 meters looking forward 100.000000 meters along route # Maximum depth: 985.880899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 897.835096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037518; longitude = -121.096830; captureRadius = 10; duration = 203; initialDepth = 911.566025; finalDepth = 897.835096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.2917120000001 # Actual altitude: 85.2917120000001 # Commanded vehicle depth: 897.835096 # Seafloor depth: -972.835096 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 341.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.12; MB_Bottom_Detect_Filter_Max_Range = 341.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 110.575744 meters # Minimum depth: 986.566025 meters looking forward 100.000000 meters along route # Maximum depth: 1001.736161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 911.566025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036870; longitude = -121.097611; captureRadius = 10; duration = 221; initialDepth = 929.476829; finalDepth = 911.566025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 911.566025 # Seafloor depth: -986.566025 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.296942 meters # Minimum depth: 1004.476829 meters looking forward 100.000000 meters along route # Maximum depth: 1022.303058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 929.476829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036166; longitude = -121.098458; captureRadius = 10; duration = 202; initialDepth = 944.991203; finalDepth = 929.476829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 929.476829 # Seafloor depth: -1004.476829 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 111.110688 meters # Minimum depth: 1019.991203 meters looking forward 100.000000 meters along route # Maximum depth: 1030.659398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 944.991203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035521; longitude = -121.099235; captureRadius = 10; duration = 222; initialDepth = 951.291997; finalDepth = 944.991203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2473309999999 # Actual altitude: 77.2473309999999 # Commanded vehicle depth: 944.991203 # Seafloor depth: -1022.238534 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 308.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.90; MB_Bottom_Detect_Filter_Max_Range = 308.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.763521 meters # Minimum depth: 1026.291997 meters looking forward 100.000000 meters along route # Maximum depth: 1030.676897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 951.291997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034813; longitude = -121.100087; captureRadius = 10; duration = 201; initialDepth = 940.861729; finalDepth = 951.291997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.3849 # Actual altitude: 79.3849 # Commanded vehicle depth: 951.291997 # Seafloor depth: -1030.676897 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 317.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.75; MB_Bottom_Detect_Filter_Max_Range = 317.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 111.645640 meters # Minimum depth: 1015.861729 meters looking forward 100.000000 meters along route # Maximum depth: 1028.379101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 940.861729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034172; longitude = -121.100859; captureRadius = 10; duration = 223; initialDepth = 927.018470; finalDepth = 940.861729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.502332 # Actual altitude: 85.502332 # Commanded vehicle depth: 940.861729 # Seafloor depth: -1026.364061 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 342.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.20; MB_Bottom_Detect_Filter_Max_Range = 342.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.230091 meters # Minimum depth: 1002.018470 meters looking forward 100.000000 meters along route # Maximum depth: 1012.918804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 927.018470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033461; longitude = -121.101715; captureRadius = 10; duration = 200; initialDepth = 882.267747; finalDepth = 927.018470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.900334 # Actual altitude: 85.900334 # Commanded vehicle depth: 927.01847 # Seafloor depth: -1012.918804 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 343.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.36; MB_Bottom_Detect_Filter_Max_Range = 343.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 113.001013 meters # Minimum depth: 957.267747 meters looking forward 100.000000 meters along route # Maximum depth: 1001.834771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 882.267747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032822; longitude = -121.102483; captureRadius = 10; duration = 226; initialDepth = 854.671969; finalDepth = 882.267747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.567024 # Actual altitude: 100 # Commanded vehicle depth: 882.267747 # Seafloor depth: -1001.834771 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 113.001445 meters # Minimum depth: 929.671969 meters looking forward 100.000000 meters along route # Maximum depth: 956.872633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 854.671969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032103; longitude = -121.103349; captureRadius = 10; duration = 226; initialDepth = 854.255186; finalDepth = 854.671969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.567024 # Actual altitude: 100 # Commanded vehicle depth: 854.671969 # Seafloor depth: -956.872633 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 113.001879 meters # Minimum depth: 929.255186 meters looking forward 100.000000 meters along route # Maximum depth: 949.369024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 854.255186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031383; longitude = -121.104216; captureRadius = 10; duration = 226; initialDepth = 874.414160; finalDepth = 854.255186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.200664 # Actual altitude: 100 # Commanded vehicle depth: 854.255186 # Seafloor depth: -929.614034 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 108.307416 meters # Minimum depth: 949.414160 meters looking forward 100.000000 meters along route # Maximum depth: 972.493202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 874.414160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030664; longitude = -121.105082; captureRadius = 10; duration = 216; initialDepth = 899.087219; finalDepth = 874.414160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75.358848 # Actual altitude: 75.358848 # Commanded vehicle depth: 874.41416 # Seafloor depth: -949.414160 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.14; MB_Bottom_Detect_Filter_Max_Range = 301.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.44; 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 115.349024 meters # Minimum depth: 974.087219 meters looking forward 100.000000 meters along route # Maximum depth: 995.096159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 899.087219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029974; longitude = -121.105912; captureRadius = 10; duration = 230; # abortOnTimeout = True; initialDepth = 897.733226; finalDepth = 899.087219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 899.087219 # Seafloor depth: -974.087219 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.910717 meters # Minimum depth: 972.733226 meters looking forward 100.000000 meters along route # Maximum depth: 990.005507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 897.733226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030777; longitude = -121.106706; captureRadius = 10; duration = 209; initialDepth = 865.568393; finalDepth = 897.733226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 92.272281 # Actual altitude: 92.272281 # Commanded vehicle depth: 897.733226 # Seafloor depth: -990.005507 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.91; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 81.039991 meters # Minimum depth: 940.568393 meters looking forward 100.000000 meters along route # Maximum depth: 976.996273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 865.568393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031507; longitude = -121.107428; captureRadius = 10; duration = 162; # abortOnTimeout = True; initialDepth = 850.039097; finalDepth = 865.568393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.10571 # Actual altitude: 100 # Commanded vehicle depth: 865.568393 # Seafloor depth: -969.674103 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.130198 meters # Minimum depth: 925.039097 meters looking forward 100.000000 meters along route # Maximum depth: 940.389959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 850.039097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032018; longitude = -121.106801; captureRadius = 10; duration = 200; initialDepth = 845.476632; finalDepth = 850.039097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.10571 # Actual altitude: 100 # Commanded vehicle depth: 850.039097 # Seafloor depth: -940.389959 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.129854 meters # Minimum depth: 920.476632 meters looking forward 100.000000 meters along route # Maximum depth: 925.094792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 845.476632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032649; longitude = -121.106026; captureRadius = 10; duration = 200; initialDepth = 853.059421; finalDepth = 845.476632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.350862 # Actual altitude: 90.350862 # Commanded vehicle depth: 845.476632 # Seafloor depth: -924.443494 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.14; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.129510 meters # Minimum depth: 928.059421 meters looking forward 100.000000 meters along route # Maximum depth: 986.607488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 853.059421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033280; longitude = -121.105250; captureRadius = 10; duration = 200; initialDepth = 899.750577; finalDepth = 853.059421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.966862 # Actual altitude: 78.966862 # Commanded vehicle depth: 853.059421 # Seafloor depth: -928.059421 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 315.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.59; MB_Bottom_Detect_Filter_Max_Range = 315.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.129167 meters # Minimum depth: 990.786295 meters looking forward 100.000000 meters along route # Maximum depth: 1016.942735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 899.750577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033912; longitude = -121.104475; captureRadius = 10; duration = 200; initialDepth = 944.269470; finalDepth = 899.750577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.0357175870121 # Actual altitude: 91.0357175870121 # Commanded vehicle depth: 899.750577412988 # Seafloor depth: -990.786295 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.41; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.128823 meters # Minimum depth: 1019.269470 meters looking forward 100.000000 meters along route # Maximum depth: 1037.565276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 944.269470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034543; longitude = -121.103700; captureRadius = 10; duration = 200; initialDepth = 965.734074; finalDepth = 944.269470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.0357175870121 # Actual altitude: 91.0357175870121 # Commanded vehicle depth: 944.26947 # Seafloor depth: -1019.269470 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.41; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.128480 meters # Minimum depth: 1040.734074 meters looking forward 100.000000 meters along route # Maximum depth: 1051.997196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 965.734074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035174; longitude = -121.102925; captureRadius = 10; duration = 200; initialDepth = 977.044028; finalDepth = 965.734074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 965.734074 # Seafloor depth: -1040.734074 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.128136 meters # Minimum depth: 1052.044028 meters looking forward 100.000000 meters along route # Maximum depth: 1060.875036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 977.044028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035805; longitude = -121.102150; captureRadius = 10; duration = 200; initialDepth = 981.504914; finalDepth = 977.044028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 977.044028 # Seafloor depth: -1052.044028 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.127792 meters # Minimum depth: 1056.504914 meters looking forward 100.000000 meters along route # Maximum depth: 1061.982811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 981.504914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036436; longitude = -121.101375; captureRadius = 10; duration = 200; initialDepth = 976.829419; finalDepth = 981.504914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.6822259999999 # Actual altitude: 79.6822259999999 # Commanded vehicle depth: 981.504914 # Seafloor depth: -1061.187140 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.87; MB_Bottom_Detect_Filter_Max_Range = 318.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.127449 meters # Minimum depth: 1051.829419 meters looking forward 100.000000 meters along route # Maximum depth: 1056.449944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 976.829419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037068; longitude = -121.100600; captureRadius = 10; duration = 200; initialDepth = 968.336277; finalDepth = 976.829419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.6822259999999 # Actual altitude: 79.6822259999999 # Commanded vehicle depth: 976.829419 # Seafloor depth: -1056.311682 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 318.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.87; MB_Bottom_Detect_Filter_Max_Range = 318.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.127105 meters # Minimum depth: 1043.336277 meters looking forward 100.000000 meters along route # Maximum depth: 1050.399647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 968.336277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037699; longitude = -121.099824; captureRadius = 10; duration = 200; initialDepth = 958.816620; finalDepth = 968.336277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.0633699999998 # Actual altitude: 82.0633699999998 # Commanded vehicle depth: 968.336277 # Seafloor depth: -1050.399647 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 328.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.83; MB_Bottom_Detect_Filter_Max_Range = 328.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.126762 meters # Minimum depth: 1033.816620 meters looking forward 100.000000 meters along route # Maximum depth: 1043.220802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 958.816620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038330; longitude = -121.099049; captureRadius = 10; duration = 200; initialDepth = 954.490743; finalDepth = 958.816620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.404182 # Actual altitude: 84.404182 # Commanded vehicle depth: 958.81662 # Seafloor depth: -1043.220802 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 337.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.76; MB_Bottom_Detect_Filter_Max_Range = 337.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.126418 meters # Minimum depth: 1029.490743 meters looking forward 100.000000 meters along route # Maximum depth: 1031.980857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 954.490743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038961; longitude = -121.098274; captureRadius = 10; duration = 200; initialDepth = 955.092771; finalDepth = 954.490743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.404182 # Actual altitude: 84.404182 # Commanded vehicle depth: 954.490743 # Seafloor depth: -1031.980857 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 337.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.76; MB_Bottom_Detect_Filter_Max_Range = 337.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.126075 meters # Minimum depth: 1030.092771 meters looking forward 100.000000 meters along route # Maximum depth: 1035.120878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 955.092771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039592; longitude = -121.097499; captureRadius = 10; duration = 200; initialDepth = 949.112660; finalDepth = 955.092771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.4901139999999 # Actual altitude: 77.4901139999999 # Commanded vehicle depth: 955.092771 # Seafloor depth: -1030.895656 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 309.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.00; MB_Bottom_Detect_Filter_Max_Range = 309.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.125731 meters # Minimum depth: 1024.112660 meters looking forward 100.000000 meters along route # Maximum depth: 1034.564234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 949.112660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040224; longitude = -121.096724; captureRadius = 10; duration = 200; initialDepth = 938.815003; finalDepth = 949.112660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.4515739999999 # Actual altitude: 85.4515739999999 # Commanded vehicle depth: 949.11266 # Seafloor depth: -1034.564234 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 341.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.18; MB_Bottom_Detect_Filter_Max_Range = 341.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.125388 meters # Minimum depth: 1013.815003 meters looking forward 100.000000 meters along route # Maximum depth: 1026.094243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 938.815003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040855; longitude = -121.095949; captureRadius = 10; duration = 200; initialDepth = 916.338406; finalDepth = 938.815003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.4515739999999 # Actual altitude: 85.4515739999999 # Commanded vehicle depth: 938.815003 # Seafloor depth: -1023.800802 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 341.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.18; MB_Bottom_Detect_Filter_Max_Range = 341.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.125044 meters # Minimum depth: 991.338406 meters looking forward 100.000000 meters along route # Maximum depth: 1012.945906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 916.338406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041486; longitude = -121.095174; captureRadius = 10; duration = 200; initialDepth = 855.413259; finalDepth = 916.338406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.6075000000001 # Actual altitude: 96.6075000000001 # Commanded vehicle depth: 916.338406 # Seafloor depth: -1012.945906 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.64; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.541108 meters # Minimum depth: 930.413259 meters looking forward 100.000000 meters along route # Maximum depth: 989.918113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 855.413259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042117; longitude = -121.094398; captureRadius = 10; duration = 205; initialDepth = 855.045020; finalDepth = 855.413259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 134.504854 # Actual altitude: 100 # Commanded vehicle depth: 855.413259 # Seafloor depth: -989.918113 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 107.276650 meters # Minimum depth: 930.045020 meters looking forward 100.000000 meters along route # Maximum depth: 942.262146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 855.045020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042764; longitude = -121.093605; captureRadius = 10; duration = 214; initialDepth = 838.275960; finalDepth = 855.045020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 134.504854 # Actual altitude: 100 # Commanded vehicle depth: 855.04502 # Seafloor depth: -930.045020 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 96.593267 meters # Minimum depth: 913.275960 meters looking forward 100.000000 meters along route # Maximum depth: 938.526505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 838.275960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043440; longitude = -121.092774; captureRadius = 10; duration = 193; # abortOnTimeout = True; initialDepth = 832.204653; finalDepth = 838.275960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.250545 # Actual altitude: 100 # Commanded vehicle depth: 838.27596 # Seafloor depth: -938.526505 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 103.533294 meters # Minimum depth: 907.204653 meters looking forward 100.000000 meters along route # Maximum depth: 913.255120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 832.204653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043666; longitude = -121.091764; captureRadius = 10; duration = 207; initialDepth = 824.022965; finalDepth = 832.204653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.250545 # Actual altitude: 100 # Commanded vehicle depth: 832.204653 # Seafloor depth: -913.076158 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 103.533064 meters # Minimum depth: 899.022965 meters looking forward 100.000000 meters along route # Maximum depth: 906.605297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 824.022965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043909; longitude = -121.090681; captureRadius = 10; duration = 207; initialDepth = 824.132906; finalDepth = 824.022965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.582332 # Actual altitude: 82.582332 # Commanded vehicle depth: 824.022965 # Seafloor depth: -906.605297 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.03; MB_Bottom_Detect_Filter_Max_Range = 330.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.026579 meters # Minimum depth: 899.132906 meters looking forward 100.000000 meters along route # Maximum depth: 903.998558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 824.132906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044151; longitude = -121.089598; captureRadius = 10; duration = 214; initialDepth = 812.971714; finalDepth = 824.132906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.582332 # Actual altitude: 82.582332 # Commanded vehicle depth: 824.132906 # Seafloor depth: -903.098745 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 330.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.03; MB_Bottom_Detect_Filter_Max_Range = 330.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 96.583183 meters # Minimum depth: 887.971714 meters looking forward 100.000000 meters along route # Maximum depth: 899.128098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 812.971714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044402; longitude = -121.088479; captureRadius = 10; duration = 193; # abortOnTimeout = True; initialDepth = 798.698144; finalDepth = 812.971714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.156384 # Actual altitude: 86.156384 # Commanded vehicle depth: 812.971714 # Seafloor depth: -899.128098 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 344.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.46; MB_Bottom_Detect_Filter_Max_Range = 344.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.120448 meters # Minimum depth: 873.698144 meters looking forward 100.000000 meters along route # Maximum depth: 887.218183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 798.698144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045107; longitude = -121.087866; captureRadius = 10; duration = 218; initialDepth = 792.884127; finalDepth = 798.698144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.520039 # Actual altitude: 88.520039 # Commanded vehicle depth: 798.698144 # Seafloor depth: -887.218183 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.41; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 106.988126 meters # Minimum depth: 867.884127 meters looking forward 100.000000 meters along route # Maximum depth: 877.769446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 792.884127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045905; longitude = -121.087173; captureRadius = 10; duration = 213; initialDepth = 783.588001; finalDepth = 792.884127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 88.520039 # Actual altitude: 88.520039 # Commanded vehicle depth: 792.884127 # Seafloor depth: -876.299532 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.41; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 75.011626 meters # Minimum depth: 858.588001 meters looking forward 100.000000 meters along route # Maximum depth: 869.149307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 783.588001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046686; longitude = -121.086494; captureRadius = 10; duration = 150; # abortOnTimeout = True; initialDepth = 784.402738; finalDepth = 783.588001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.528057 # Actual altitude: 83.528057 # Commanded vehicle depth: 783.588001 # Seafloor depth: -867.116058 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.41; MB_Bottom_Detect_Filter_Max_Range = 334.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 102.285048 meters # Minimum depth: 859.402738 meters looking forward 100.000000 meters along route # Maximum depth: 879.361945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 784.402738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047347; longitude = -121.086324; captureRadius = 10; duration = 204; initialDepth = 805.460392; finalDepth = 784.402738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.528057 # Actual altitude: 83.528057 # Commanded vehicle depth: 784.402738 # Seafloor depth: -859.402738 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.41; MB_Bottom_Detect_Filter_Max_Range = 334.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 109.118865 meters # Minimum depth: 880.460392 meters looking forward 100.000000 meters along route # Maximum depth: 884.207207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 805.460392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048249; longitude = -121.086092; captureRadius = 10; duration = 218; initialDepth = 808.464735; finalDepth = 805.460392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.1547400000001 # Actual altitude: 75.1547400000001 # Commanded vehicle depth: 805.460392 # Seafloor depth: -880.615132 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 300.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 75.082977 meters # Minimum depth: 883.464735 meters looking forward 100.000000 meters along route # Maximum depth: 886.964117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 808.464735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049211; longitude = -121.085845; captureRadius = 10; duration = 150; # abortOnTimeout = True; initialDepth = 811.796190; finalDepth = 808.464735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.142977 # Actual altitude: 76.142977 # Commanded vehicle depth: 808.464735 # Seafloor depth: -884.607712 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 304.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.187051 meters # Minimum depth: 886.796190 meters looking forward 100.000000 meters along route # Maximum depth: 888.612103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 811.796190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049687; longitude = -121.085267; captureRadius = 10; duration = 200; initialDepth = 811.313333; finalDepth = 811.796190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.142977 # Actual altitude: 76.142977 # Commanded vehicle depth: 811.79619 # Seafloor depth: -887.434738 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 304.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 110.883357 meters # Minimum depth: 886.313333 meters looking forward 100.000000 meters along route # Maximum depth: 888.100173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 811.313333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050323; longitude = -121.084496; captureRadius = 10; duration = 221; initialDepth = 812.467264; finalDepth = 811.313333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9533660000001 # Actual altitude: 75.9533660000001 # Commanded vehicle depth: 811.313333 # Seafloor depth: -887.266699 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 303.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.38; MB_Bottom_Detect_Filter_Max_Range = 303.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.306564 meters # Minimum depth: 887.467264 meters looking forward 100.000000 meters along route # Maximum depth: 889.310730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 812.467264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051027; longitude = -121.083643; captureRadius = 10; duration = 204; initialDepth = 810.692515; finalDepth = 812.467264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.005133 # Actual altitude: 76.005133 # Commanded vehicle depth: 812.467264 # Seafloor depth: -888.472397 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 304.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 304.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 108.762327 meters # Minimum depth: 885.692515 meters looking forward 100.000000 meters along route # Maximum depth: 888.638957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 810.692515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051676; longitude = -121.082856; captureRadius = 10; duration = 217; initialDepth = 810.558813; finalDepth = 810.692515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.946442 # Actual altitude: 77.946442 # Commanded vehicle depth: 810.692515 # Seafloor depth: -888.638957 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 311.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 104.426047 meters # Minimum depth: 885.558813 meters looking forward 100.000000 meters along route # Maximum depth: 893.644646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 810.558813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052366; longitude = -121.082019; captureRadius = 10; duration = 208; initialDepth = 819.311318; finalDepth = 810.558813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.946442 # Actual altitude: 77.946442 # Commanded vehicle depth: 810.558813 # Seafloor depth: -885.558813 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 311.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 106.641327 meters # Minimum depth: 894.311318 meters looking forward 100.000000 meters along route # Maximum depth: 916.894185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 819.311318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053028; longitude = -121.081215; captureRadius = 10; duration = 213; initialDepth = 841.330136; finalDepth = 819.311318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 819.311318 # Seafloor depth: -894.311318 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 106.545500 meters # Minimum depth: 916.330136 meters looking forward 100.000000 meters along route # Maximum depth: 947.411243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 841.330136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053705; longitude = -121.080395; captureRadius = 10; duration = 213; initialDepth = 874.398990; finalDepth = 841.330136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 841.330136 # Seafloor depth: -916.330136 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 104.520358 meters # Minimum depth: 949.398990 meters looking forward 100.000000 meters along route # Maximum depth: 974.384273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 874.398990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054381; longitude = -121.079575; captureRadius = 10; duration = 209; initialDepth = 900.036917; finalDepth = 874.398990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 874.39899 # Seafloor depth: -949.398990 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 108.664922 meters # Minimum depth: 975.036917 meters looking forward 100.000000 meters along route # Maximum depth: 982.079274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 900.036917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055044; longitude = -121.078771; captureRadius = 10; duration = 217; initialDepth = 883.714506; finalDepth = 900.036917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 900.036917 # Seafloor depth: -975.036917 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.399419 meters # Minimum depth: 958.714506 meters looking forward 100.000000 meters along route # Maximum depth: 979.138742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 883.714506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055733; longitude = -121.077935; captureRadius = 10; duration = 204; initialDepth = 889.582574; finalDepth = 883.714506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.197312 # Actual altitude: 95.197312 # Commanded vehicle depth: 883.714506 # Seafloor depth: -978.911818 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.08; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 110.784314 meters # Minimum depth: 964.582574 meters looking forward 100.000000 meters along route # Maximum depth: 998.226132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 889.582574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056383; longitude = -121.077147; captureRadius = 10; duration = 221; initialDepth = 935.810605; finalDepth = 889.582574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.197312 # Actual altitude: 95.197312 # Commanded vehicle depth: 889.582574 # Seafloor depth: -964.582574 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.08; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.278511 meters # Minimum depth: 1010.810605 meters looking forward 100.000000 meters along route # Maximum depth: 1050.727420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 935.810605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057086; longitude = -121.076294; captureRadius = 10; duration = 200; initialDepth = 975.666235; finalDepth = 935.810605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 935.810605 # Seafloor depth: -1010.810605 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 112.903674 meters # Minimum depth: 1050.666235 meters looking forward 100.000000 meters along route # Maximum depth: 1068.890145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 975.666235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057722; longitude = -121.075522; captureRadius = 10; duration = 225; initialDepth = 992.740215; finalDepth = 975.666235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 975.666235 # Seafloor depth: -1050.666235 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 113.696533 meters # Minimum depth: 1067.740215 meters looking forward 100.000000 meters along route # Maximum depth: 1079.591933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 992.740215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058439; longitude = -121.074654; captureRadius = 10; duration = 227; initialDepth = 1001.211936; finalDepth = 992.740215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 992.740215 # Seafloor depth: -1067.740215 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 111.097158 meters # Minimum depth: 1076.211936 meters looking forward 100.000000 meters along route # Maximum depth: 1080.462048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1001.211936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059160; longitude = -121.073779; captureRadius = 10; duration = 222; initialDepth = 1002.493274; finalDepth = 1001.211936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.9774600000001 # Actual altitude: 77.9774600000001 # Commanded vehicle depth: 1001.211936 # Seafloor depth: -1079.189396 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.19; MB_Bottom_Detect_Filter_Max_Range = 311.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.082655 meters # Minimum depth: 1077.493274 meters looking forward 100.000000 meters along route # Maximum depth: 1083.244416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1002.493274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059865; longitude = -121.072924; captureRadius = 10; duration = 204; initialDepth = 989.034353; finalDepth = 1002.493274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.9774600000001 # Actual altitude: 77.9774600000001 # Commanded vehicle depth: 1002.493274 # Seafloor depth: -1077.493274 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 311.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.19; MB_Bottom_Detect_Filter_Max_Range = 311.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 108.976227 meters # Minimum depth: 1064.034353 meters looking forward 100.000000 meters along route # Maximum depth: 1083.728562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 989.034353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060513; longitude = -121.072138; captureRadius = 10; duration = 217; initialDepth = 971.896921; finalDepth = 989.034353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.694209 # Actual altitude: 94.694209 # Commanded vehicle depth: 989.034353 # Seafloor depth: -1083.728562 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.88; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 104.202040 meters # Minimum depth: 1046.896921 meters looking forward 100.000000 meters along route # Maximum depth: 1066.266844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 971.896921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061204; longitude = -121.071300; captureRadius = 10; duration = 208; initialDepth = 939.499524; finalDepth = 971.896921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.694209 # Actual altitude: 94.694209 # Commanded vehicle depth: 971.896921 # Seafloor depth: -1066.209492 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.88; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 106.855326 meters # Minimum depth: 1014.499524 meters looking forward 100.000000 meters along route # Maximum depth: 1042.291853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 939.499524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061865; longitude = -121.070498; captureRadius = 10; duration = 213; initialDepth = 923.795418; finalDepth = 939.499524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.792329 # Actual altitude: 100 # Commanded vehicle depth: 939.499524 # Seafloor depth: -1042.291853 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 106.321393 meters # Minimum depth: 998.795418 meters looking forward 100.000000 meters along route # Maximum depth: 1011.199877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 923.795418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062543; longitude = -121.069675; captureRadius = 10; duration = 212; initialDepth = 900.607808; finalDepth = 923.795418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.792329 # Actual altitude: 100 # Commanded vehicle depth: 923.795418 # Seafloor depth: -1011.199877 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 104.734456 meters # Minimum depth: 975.607808 meters looking forward 100.000000 meters along route # Maximum depth: 1000.482918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 900.607808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063218; longitude = -121.068857; captureRadius = 10; duration = 209; initialDepth = 898.685978; finalDepth = 900.607808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.281347 # Actual altitude: 99.281347 # Commanded vehicle depth: 900.607808 # Seafloor depth: -999.889155 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.71; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 108.440717 meters # Minimum depth: 973.685978 meters looking forward 100.000000 meters along route # Maximum depth: 983.596559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 898.685978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063882; longitude = -121.068051; captureRadius = 10; duration = 216; initialDepth = 901.909514; finalDepth = 898.685978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.281347 # Actual altitude: 99.281347 # Commanded vehicle depth: 898.685978 # Seafloor depth: -977.882076 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.71; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.613617 meters # Minimum depth: 976.909514 meters looking forward 100.000000 meters along route # Maximum depth: 1018.906675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 901.909514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064570; longitude = -121.067217; captureRadius = 10; duration = 205; initialDepth = 946.260240; finalDepth = 901.909514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.196098 # Actual altitude: 79.196098 # Commanded vehicle depth: 901.909514 # Seafloor depth: -976.909514 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 316.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.68; MB_Bottom_Detect_Filter_Max_Range = 316.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 110.560009 meters # Minimum depth: 1021.260240 meters looking forward 100.000000 meters along route # Maximum depth: 1053.284300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 946.260240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065221; longitude = -121.066427; captureRadius = 10; duration = 221; initialDepth = 979.966751; finalDepth = 946.260240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 946.26024 # Seafloor depth: -1021.260240 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.492808 meters # Minimum depth: 1054.966751 meters looking forward 100.000000 meters along route # Maximum depth: 1058.389496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 979.966751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065923; longitude = -121.065576; captureRadius = 10; duration = 200; initialDepth = 979.745848; finalDepth = 979.966751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.265396 # Actual altitude: 75.265396 # Commanded vehicle depth: 979.966751 # Seafloor depth: -1055.232147 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 301.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 301.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.865427 meters # Minimum depth: 1054.745848 meters looking forward 100.000000 meters along route # Maximum depth: 1064.862697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 979.745848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066561; longitude = -121.064803; captureRadius = 10; duration = 215; initialDepth = 959.698997; finalDepth = 979.745848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75.6271159999999 # Actual altitude: 75.6271159999999 # Commanded vehicle depth: 979.745848 # Seafloor depth: -1055.372964 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 302.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 302.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.51; 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 109.241036 meters # Minimum depth: 1034.698997 meters looking forward 100.000000 meters along route # Maximum depth: 1066.093536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 959.698997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067245; longitude = -121.063973; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 924.283481; finalDepth = 959.698997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 106.394539 # Actual altitude: 100 # Commanded vehicle depth: 959.698997 # Seafloor depth: -1066.093536 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.764221 meters # Minimum depth: 999.283481 meters looking forward 100.000000 meters along route # Maximum depth: 1031.313633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 924.283481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066374; longitude = -121.063421; captureRadius = 10; duration = 203; initialDepth = 894.146652; finalDepth = 924.283481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.030152 # Actual altitude: 100 # Commanded vehicle depth: 924.283481 # Seafloor depth: -1031.313633 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.764443 meters # Minimum depth: 969.146652 meters looking forward 100.000000 meters along route # Maximum depth: 996.806344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 894.146652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065562; longitude = -121.062907; captureRadius = 10; duration = 203; initialDepth = 854.983301; finalDepth = 894.146652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.030152 # Actual altitude: 100 # Commanded vehicle depth: 894.146652 # Seafloor depth: -996.806344 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.764666 meters # Minimum depth: 929.983301 meters looking forward 100.000000 meters along route # Maximum depth: 966.902994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 854.983301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064751; longitude = -121.062393; captureRadius = 10; duration = 203; initialDepth = 825.530507; finalDepth = 854.983301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.919693 # Actual altitude: 100 # Commanded vehicle depth: 854.983301 # Seafloor depth: -966.902994 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.764889 meters # Minimum depth: 900.530507 meters looking forward 100.000000 meters along route # Maximum depth: 929.948160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 825.530507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063939; longitude = -121.061879; captureRadius = 10; duration = 203; initialDepth = 795.412665; finalDepth = 825.530507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.919693 # Actual altitude: 100 # Commanded vehicle depth: 825.530507 # Seafloor depth: -929.948160 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.765111 meters # Minimum depth: 870.412665 meters looking forward 100.000000 meters along route # Maximum depth: 895.999577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 795.412665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063128; longitude = -121.061365; captureRadius = 10; duration = 203; initialDepth = 767.719788; finalDepth = 795.412665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.417653 # Actual altitude: 100 # Commanded vehicle depth: 795.412665 # Seafloor depth: -895.999577 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.765333 meters # Minimum depth: 842.719788 meters looking forward 100.000000 meters along route # Maximum depth: 867.898060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 767.719788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062316; longitude = -121.060851; captureRadius = 10; duration = 203; initialDepth = 734.982856; finalDepth = 767.719788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.586912 # Actual altitude: 100 # Commanded vehicle depth: 767.719788 # Seafloor depth: -867.898060 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.769342 meters # Minimum depth: 809.982856 meters looking forward 100.000000 meters along route # Maximum depth: 840.711165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 734.982856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061504; longitude = -121.060336; captureRadius = 10; duration = 203; initialDepth = 710.595180; finalDepth = 734.982856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 105.728309 # Actual altitude: 100 # Commanded vehicle depth: 734.982856 # Seafloor depth: -840.711165 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.761993 meters # Minimum depth: 785.595180 meters looking forward 100.000000 meters along route # Maximum depth: 809.981355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 710.595180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060693; longitude = -121.059822; captureRadius = 10; duration = 203; initialDepth = 685.699609; finalDepth = 710.595180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 105.728309 # Actual altitude: 100 # Commanded vehicle depth: 710.59518 # Seafloor depth: -809.981355 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.766001 meters # Minimum depth: 760.699609 meters looking forward 100.000000 meters along route # Maximum depth: 781.502672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 685.699609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059881; longitude = -121.059308; captureRadius = 10; duration = 203; initialDepth = 657.518215; finalDepth = 685.699609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.386175 # Actual altitude: 99.386175 # Commanded vehicle depth: 685.699609 # Seafloor depth: -781.502672 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.75; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.766224 meters # Minimum depth: 732.518215 meters looking forward 100.000000 meters along route # Maximum depth: 758.553288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 657.518215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059070; longitude = -121.058794; captureRadius = 10; duration = 203; initialDepth = 651.276215; finalDepth = 657.518215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.035073 # Actual altitude: 100 # Commanded vehicle depth: 657.518215 # Seafloor depth: -758.553288 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.934412 meters # Minimum depth: 726.276215 meters looking forward 100.000000 meters along route # Maximum depth: 732.398409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 651.276215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058258; longitude = -121.058280; captureRadius = 10; duration = 203; initialDepth = 643.137349; finalDepth = 651.276215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.035073 # Actual altitude: 100 # Commanded vehicle depth: 651.276215 # Seafloor depth: -732.398409 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.598703 meters # Minimum depth: 718.137349 meters looking forward 100.000000 meters along route # Maximum depth: 728.948251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 643.137349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057445; longitude = -121.057765; captureRadius = 10; duration = 203; initialDepth = 624.199555; finalDepth = 643.137349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.3493040000001 # Actual altitude: 85.3493040000001 # Commanded vehicle depth: 643.137349 # Seafloor depth: -728.486653 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 341.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.14; MB_Bottom_Detect_Filter_Max_Range = 341.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.766892 meters # Minimum depth: 699.199555 meters looking forward 100.000000 meters along route # Maximum depth: 715.891352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 624.199555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056635; longitude = -121.057252; captureRadius = 10; duration = 203; initialDepth = 614.119554; finalDepth = 624.199555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.691797 # Actual altitude: 91.691797 # Commanded vehicle depth: 624.199555 # Seafloor depth: -715.891352 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.68; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.767114 meters # Minimum depth: 689.119554 meters looking forward 100.000000 meters along route # Maximum depth: 698.072278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 614.119554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055824; longitude = -121.056738; captureRadius = 10; duration = 203; initialDepth = 605.041100; finalDepth = 614.119554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.691797 # Actual altitude: 91.691797 # Commanded vehicle depth: 614.119554 # Seafloor depth: -698.072278 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.68; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.099485 meters # Minimum depth: 680.041100 meters looking forward 100.000000 meters along route # Maximum depth: 688.744533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 605.041100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055012; longitude = -121.056224; captureRadius = 10; duration = 204; initialDepth = 597.618503; finalDepth = 605.041100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.952724 # Actual altitude: 83.952724 # Commanded vehicle depth: 605.0411 # Seafloor depth: -688.744533 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 335.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.58; MB_Bottom_Detect_Filter_Max_Range = 335.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.435411 meters # Minimum depth: 672.618503 meters looking forward 100.000000 meters along route # Maximum depth: 680.012890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 597.618503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054198; longitude = -121.055708; captureRadius = 10; duration = 202; initialDepth = 593.846034; finalDepth = 597.618503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.703433 # Actual altitude: 83.703433 # Commanded vehicle depth: 597.618503 # Seafloor depth: -680.012890 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 334.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.48; MB_Bottom_Detect_Filter_Max_Range = 334.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.767781 meters # Minimum depth: 668.846034 meters looking forward 100.000000 meters along route # Maximum depth: 671.797092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 593.846034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053389; longitude = -121.055195; captureRadius = 10; duration = 203; initialDepth = 590.381687; finalDepth = 593.846034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.3943869999999 # Actual altitude: 82.3943869999999 # Commanded vehicle depth: 593.846034 # Seafloor depth: -671.797092 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 329.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.96; MB_Bottom_Detect_Filter_Max_Range = 329.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.768005 meters # Minimum depth: 665.381687 meters looking forward 100.000000 meters along route # Maximum depth: 668.777504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 590.381687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052577; longitude = -121.054681; captureRadius = 10; duration = 203; initialDepth = 586.576722; finalDepth = 590.381687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.3953059999999 # Actual altitude: 78.3953059999999 # Commanded vehicle depth: 590.381687 # Seafloor depth: -668.776993 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.36; MB_Bottom_Detect_Filter_Max_Range = 313.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 109.319179 meters # Minimum depth: 661.576722 meters looking forward 100.000000 meters along route # Maximum depth: 665.048543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.978760 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 586.576722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051766; longitude = -121.054167; captureRadius = 10; duration = 218; initialDepth = 586.576722; finalDepth = 586.576722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 78.471821 # Actual altitude: 78.471821 # Commanded vehicle depth: 586.576722 # Seafloor depth: -665.048543 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 313.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.39; MB_Bottom_Detect_Filter_Max_Range = 313.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.89; 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; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 78.471821 # Sonar parameter altitude: 78.471821 # Commanded vehicle depth: 586.576722 # Seafloor depth: -661.647598 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 400.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 220; MB_Range = 313.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.39; MB_Bottom_Detect_Filter_Max_Range = 313.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 109.319179 meters # Minimum depth: 661.576722 meters looking forward 100.000000 meters along route # Maximum depth: 664.646418 meters looking forward 100.000000 meters along route # Vehicle depth: 586.576722 meters behavior waypoint { latitude = 34.050894; longitude = -121.053615; captureRadius = 10; duration = 293; depth = 586.576722; speed = 1.500000; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 586.576722 meters set by local depth and desired altitude behavior descend { duration = 1903; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 576.647598; minAltitude = 75.000000; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 109.319179 meters # Minimum depth: 661.576722 meters looking forward 100.000000 meters along route # Maximum depth: 664.646418 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 34.050894; longitude = -121.053615; captureRadius = 10; duration = 1000; depth = 50.000000; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 171.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 75.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 171.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 400.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################