# 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: SoquelCanyon_1v3.rte # Mission File: SoquelCanyon_1v3.cfg # Distance: 52530.724880 (m) # Estimated Time: 36800 (s) 10.222 (hr) # Abort Time: 47841 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 172 # Route Points: 1095 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 40 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 986.243816 (m) # Abort Vehicle Depth: 1011.243816 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: (m) # Waypoint Spacing: 50 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.962064 36.864246 -101.828125 0.000000 3 # 1 -121.960663 36.858793 -146.050545 617.726338 1 # 2 -121.961317 36.854572 -189.729652 1089.629566 1 # 3 -121.962998 36.850156 -225.225063 1601.961782 1 # 4 -121.964063 36.844569 -257.819992 2229.026765 1 # 5 -121.964847 36.841865 -277.733330 2537.051630 1 # 6 -121.965539 36.840047 -294.818954 2747.972096 1 # 7 -121.967556 36.838425 -319.671913 3002.395028 1 # 8 -121.969406 36.835857 -336.331429 3331.611262 1 # 9 -121.971012 36.834250 -351.722496 3560.295495 1 # 10 -121.972993 36.831891 -371.198349 3876.053498 1 # 11 -121.974282 36.829638 -398.884277 4151.172481 1 # 12 -121.975627 36.828061 -415.089325 4363.299409 1 # 13 -121.976972 36.826259 -425.075584 4596.442900 1 # 14 -121.978597 36.824276 -435.169106 4859.888475 1 # 15 -121.980110 36.823059 -446.216080 5050.779261 1 # 16 -121.981717 36.822308 -459.071342 5216.566236 1 # 17 -121.983473 36.822293 -469.601830 5373.195777 1 # 18 -121.985042 36.822248 -474.002068 5513.226652 1 # 19 -121.986779 36.822293 -477.986710 5668.233083 1 # 20 -121.989133 36.821482 -492.780823 5896.657359 1 # 21 -121.990871 36.819950 -516.129837 6126.695598 1 # 22 -121.991992 36.817922 -530.211990 6372.901441 1 # 23 -121.992085 36.816000 -546.329727 6586.291102 1 # 24 -121.992085 36.814197 -561.128983 6786.317435 1 # 25 -121.992253 36.811989 -574.945831 7031.732700 1 # 26 -121.992384 36.810352 -585.101730 7213.718303 1 # 27 -121.992533 36.809421 -590.964813 7317.855859 1 # 28 -121.993113 36.808504 -596.957748 7431.989835 1 # 29 -121.993430 36.806266 -610.688400 7681.880342 1 # 30 -121.994177 36.803052 -630.773407 8044.617617 1 # 31 -121.994159 36.800543 -650.974884 8322.972086 1 # 32 -121.994738 36.799447 -660.060272 8455.080965 1 # 33 -121.996027 36.797374 -687.277191 8712.212122 1 # 34 -121.997073 36.795947 -707.523621 8895.984562 1 # 35 -121.997802 36.794911 -726.167175 9028.047073 1 # 36 -121.998997 36.792868 -732.209427 9278.525029 1 # 37 -121.999091 36.792252 -745.377197 9347.376994 1 # 38 -121.999035 36.791396 -775.698303 9442.473218 1 # 39 -121.998698 36.790134 -776.716354 9585.672521 1 # 40 -121.998661 36.789083 -788.109665 9702.317430 1 # 41 -121.999427 36.787250 -819.756897 9916.850530 1 # 42 -122.000118 36.786018 -834.726181 10066.793479 1 # 43 -122.000660 36.785358 -868.715057 10154.545345 1 # 44 -122.002192 36.784126 -898.520050 10347.858563 1 # 45 -122.004153 36.782774 -936.229660 10578.335699 1 # 46 -122.004919 36.782023 -940.609039 10686.104386 1 # 47 -122.006395 36.780251 -967.029861 10922.737466 1 # 48 -122.011103 36.777592 -1005.202606 11436.102911 4 # 49 -122.013401 36.777952 -1003.214798 11645.035749 3 # 50 -122.007292 36.781332 -969.151611 12306.715099 1 # 51 -122.006432 36.784006 -888.893326 12613.134520 1 # 52 -122.005984 36.786079 -848.002243 12846.561836 1 # 53 -122.004882 36.787731 -846.110733 13054.548769 1 # 54 -122.003369 36.789083 -771.960556 13256.350472 1 # 55 -122.002565 36.790044 -778.182220 13384.853849 1 # 56 -122.000791 36.791336 -745.093994 13598.397195 1 # 57 -121.998586 36.794730 -723.664963 14023.230353 1 # 58 -121.996924 36.797149 -691.247742 14329.838714 1 # 59 -121.995784 36.801309 -647.203262 14802.425508 1 # 60 -121.994514 36.804719 -621.616531 15197.335193 1 # 61 -121.994551 36.807663 -601.609756 15523.961062 1 # 62 -121.994327 36.808835 -592.720352 15655.510070 1 # 63 -121.994047 36.810637 -576.738953 15856.979536 1 # 64 -121.994626 36.811749 -567.783005 15990.721250 1 # 65 -121.994626 36.812470 -565.130173 16070.709515 1 # 66 -121.993598 36.813116 -565.333313 16187.093354 1 # 67 -121.992888 36.814002 -560.825150 16304.023737 1 # 68 -121.992982 36.815504 -550.371277 16470.867665 1 # 69 -121.993393 36.816390 -539.267548 16575.775427 1 # 70 -121.993281 36.817877 -529.012650 16741.046682 1 # 71 -121.992589 36.819019 -523.885117 16881.976815 1 # 72 -121.991581 36.820461 -514.073639 17065.487164 1 # 73 -121.991711 36.822203 -483.982010 17259.093846 1 # 74 -121.990310 36.823239 -473.407936 17428.870798 1 # 75 -121.988778 36.824426 -460.682396 17618.638146 1 # 76 -121.987620 36.825583 -446.569817 17783.388913 1 # 77 -121.985864 36.826229 -433.476524 17955.621319 1 # 78 -121.983622 36.825147 -430.257477 18188.843975 1 # 79 -121.980390 36.824096 -438.021606 18499.791971 1 # 80 -121.979195 36.824832 -433.072563 18634.055621 1 # 81 -121.977457 36.827040 -419.372818 18923.938621 1 # 82 -121.976747 36.828557 -407.837914 19103.754883 1 # 83 -121.975272 36.830014 -394.803459 19312.159295 1 # 84 -121.974338 36.831846 -366.686569 19531.810541 1 # 85 -121.972806 36.833844 -351.662453 19792.194159 1 # 86 -121.971367 36.835541 -339.874062 20020.037340 1 # 87 -121.968266 36.839296 -287.132187 20520.050214 1 # 88 -121.966716 36.841039 -276.207108 20757.739310 1 # 89 -121.964679 36.849931 -206.918701 21760.816492 1 # 90 -121.962942 36.854843 -163.127525 22327.342428 1 # 91 -121.962400 36.859064 -137.789185 22798.116092 4 # 92 -121.958570 36.858988 -125.882408 23139.662741 3 # 93 -121.959747 36.854392 -169.425442 23660.238940 1 # 94 -121.961092 36.849886 -212.781300 24174.326214 1 # 95 -121.962344 36.844734 -232.068237 24756.699189 1 # 96 -121.962718 36.842451 -226.329887 25012.165837 1 # 97 -121.963726 36.839882 -250.519981 25311.013112 1 # 98 -121.966136 36.837764 -291.586670 25629.443742 1 # 99 -121.968042 36.835331 -310.809547 25948.421526 1 # 100 -121.969910 36.833694 -335.463867 26194.862277 1 # 101 -121.971535 36.831351 -356.708176 26492.466000 1 # 102 -121.972880 36.829233 -373.524643 26756.286104 1 # 103 -121.974282 36.827340 -393.455414 27000.702696 1 # 104 -121.975720 36.825598 -403.325897 27232.646059 1 # 105 -121.977588 36.823600 -421.532600 27509.938104 1 # 106 -121.979438 36.822068 -430.681137 27746.820610 1 # 107 -121.980951 36.821662 -445.412331 27889.087049 1 # 108 -121.981661 36.823570 -448.493607 28110.032358 1 # 109 -121.983734 36.824291 -446.100822 28311.483831 1 # 110 -121.986032 36.825192 -452.350388 28539.515785 1 # 111 -121.987788 36.823915 -470.343948 28750.701645 1 # 112 -121.990684 36.821722 -497.762367 29105.538615 1 # 113 -121.990030 36.821437 -498.344040 29171.888559 3 # 114 -121.985883 36.824276 -454.951973 29657.695574 1 # 115 -121.984538 36.823690 -457.759781 29794.139512 3 # 116 -121.986481 36.821858 -477.987518 30061.235959 1 # 117 -121.987676 36.821122 -483.433983 30195.502664 1 # 118 -121.988666 36.819199 -495.726074 30426.394526 1 # 119 -121.989414 36.817111 -515.727905 30667.456131 1 # 120 -121.990460 36.814783 -540.971252 30942.062939 1 # 121 -121.991095 36.812920 -557.108780 31156.366916 1 # 122 -121.991581 36.810772 -579.703415 31398.579155 1 # 123 -121.992758 36.809826 -588.627548 31547.032567 1 # 124 -121.992253 36.808519 -594.620407 31698.869035 1 # 125 -121.991469 36.806582 -594.608414 31924.856169 1 # 126 -121.991487 36.804989 -598.296570 32101.591969 1 # 127 -121.992141 36.802932 -615.573410 32337.137376 1 # 128 -121.992888 36.801159 -627.944443 32544.818258 1 # 129 -121.993225 36.799492 -631.203674 32732.184201 1 # 130 -121.993897 36.798140 -654.597885 32893.714619 1 # 131 -121.995224 36.796713 -681.478058 33091.401712 1 # 132 -121.996344 36.796623 -696.837479 33191.827101 3 # 133 -121.996176 36.798155 -678.246002 33362.447497 1 # 134 -121.994887 36.801174 -644.680878 33716.570409 1 # 135 -121.993150 36.802887 -627.681976 33961.785179 1 # 136 -121.992309 36.807167 -600.391205 34442.502057 1 # 137 -121.993430 36.809736 -586.980865 34744.543687 1 # 138 -121.993337 36.811929 -572.394058 34987.978116 1 # 139 -121.991151 36.815849 -542.887650 35464.580957 1 # 140 -121.990516 36.818027 -522.992783 35712.760064 1 # 141 -121.989283 36.820235 -498.760132 35981.273309 1 # 142 -121.987714 36.822579 -478.714203 36276.583212 1 # 143 -121.986163 36.823194 -471.909836 36430.829114 1 # 144 -121.983510 36.823254 -459.328766 36667.545467 1 # 145 -121.980988 36.823615 -446.121758 36896.021310 1 # 146 -121.978597 36.823510 -436.015549 37109.593301 1 # 147 -121.977924 36.825943 -427.361641 37386.107022 1 # 148 -121.975496 36.827085 -417.919647 37636.993013 1 # 149 -121.975346 36.829233 -409.536446 37875.670447 3 # 150 -121.977962 36.829608 -369.272301 38112.655021 1 # 151 -121.980166 36.829683 -340.121758 38309.391001 1 # 152 -121.982800 36.829503 -318.188744 38545.147072 1 # 153 -121.985042 36.827971 -382.170372 38807.573302 1 # 154 -121.987116 36.826078 -433.663124 39087.429709 4 # 155 -121.986537 36.825462 -447.880127 39173.085848 3 # 156 -121.984986 36.826574 -421.466118 39358.435241 1 # 157 -121.983697 36.827520 -372.587837 39514.097125 1 # 158 -121.981381 36.828527 -320.277504 39748.926635 1 # 159 -121.978149 36.828512 -388.842506 40037.175983 1 # 160 -121.976243 36.827971 -414.978096 40217.447243 4 # 161 -121.975795 36.828782 -412.055740 40315.893256 3 # 162 -121.978466 36.827806 -367.250938 40577.560318 1 # 163 -121.981268 36.827355 -309.981956 40832.418277 1 # 164 -121.984183 36.826634 -397.678261 41104.423361 1 # 165 -121.988517 36.822158 -486.335587 41733.710439 3 # 166 -121.965931 36.811343 -92.143209 44078.562959 4 # 167 -121.966809 36.810232 -93.563955 44224.598521 3 # 168 -121.989526 36.821076 -497.791130 46581.163187 1 # 169 -122.005610 36.829413 -91.937689 48287.990365 4 # 170 -122.006657 36.828031 -93.237715 48467.506548 3 # 171 -121.967668 36.809090 -93.019209 52530.724880 4 # # A total of 1095 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 52530.724880 #define MISSION_TIME 36800 #define MISSION_TIMEOUT 22800 #define DEPTH_MAX 986.243816 #define DEPTH_ABORT 1011.243816 #define ALTITUDE_DESIRED 40.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 30.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 0.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 2 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 171 # Segment length 52.790935 meters # Minimum depth: 93.019209 meters looking forward 0.000000 meters along route # Maximum depth: 93.019209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.019209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809090; longitude = -121.967668; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 53.112722; finalDepth = 53.019209; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.019209 # Seafloor depth:-93.019209 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 93.112722 meters looking forward 0.000000 meters along route # Maximum depth: 93.112722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.112722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809165; longitude = -121.967823; captureRadius = 10; duration = 52; initialDepth = 53.207053; finalDepth = 53.112722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.112722 # Seafloor depth:-93.112722 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 93.207053 meters looking forward 0.000000 meters along route # Maximum depth: 93.207053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.207053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809399; longitude = -121.968303; captureRadius = 10; duration = 52; initialDepth = 52.991208; finalDepth = 53.207053; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.207053 # Seafloor depth:-93.207053 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 92.991208 meters looking forward 0.000000 meters along route # Maximum depth: 92.991208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.991208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809644; longitude = -121.968808; captureRadius = 10; duration = 52; initialDepth = 52.536089; finalDepth = 52.991208; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.991208 # Seafloor depth:-92.991208 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 92.536089 meters looking forward 0.000000 meters along route # Maximum depth: 92.536089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.536089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809889; longitude = -121.969312; captureRadius = 10; duration = 52; initialDepth = 52.907884; finalDepth = 52.536089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.536089 # Seafloor depth:-92.536089 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 92.907884 meters looking forward 0.000000 meters along route # Maximum depth: 92.907884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.907884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810134; longitude = -121.969817; captureRadius = 10; duration = 52; initialDepth = 53.389115; finalDepth = 52.907884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.907884 # Seafloor depth:-92.907884 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 93.389115 meters looking forward 0.000000 meters along route # Maximum depth: 93.389115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.389115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810382; longitude = -121.970327; captureRadius = 10; duration = 52; initialDepth = 53.216516; finalDepth = 53.389115; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.389115 # Seafloor depth:-93.389115 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 93.216516 meters looking forward 0.000000 meters along route # Maximum depth: 93.216516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.216516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810624; longitude = -121.970825; captureRadius = 10; duration = 52; initialDepth = 52.683382; finalDepth = 53.216516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.216516 # Seafloor depth:-93.216516 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 92.683382 meters looking forward 0.000000 meters along route # Maximum depth: 92.683382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.683382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810878; longitude = -121.971347; captureRadius = 10; duration = 52; initialDepth = 52.538044; finalDepth = 52.683382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.683382 # Seafloor depth:-92.683382 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 92.538044 meters looking forward 0.000000 meters along route # Maximum depth: 92.538044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.538044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811114; longitude = -121.971834; captureRadius = 10; duration = 52; initialDepth = 53.086742; finalDepth = 52.538044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.538044 # Seafloor depth:-92.538044 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 93.086742 meters looking forward 0.000000 meters along route # Maximum depth: 93.086742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.086742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811359; longitude = -121.972339; captureRadius = 10; duration = 52; initialDepth = 53.172849; finalDepth = 53.086742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.086742 # Seafloor depth:-93.086742 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 93.172849 meters looking forward 0.000000 meters along route # Maximum depth: 93.172849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.172849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811604; longitude = -121.972843; captureRadius = 10; duration = 52; initialDepth = 54.007738; finalDepth = 53.172849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.172849 # Seafloor depth:-93.172849 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 94.007738 meters looking forward 0.000000 meters along route # Maximum depth: 94.007738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.007738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811849; longitude = -121.973347; captureRadius = 10; duration = 52; initialDepth = 53.788809; finalDepth = 54.007738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.007738 # Seafloor depth:-94.007738 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 93.788809 meters looking forward 0.000000 meters along route # Maximum depth: 93.788809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.788809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812094; longitude = -121.973852; captureRadius = 10; duration = 52; initialDepth = 54.424946; finalDepth = 53.788809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.788809 # Seafloor depth:-93.788809 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 94.424946 meters looking forward 0.000000 meters along route # Maximum depth: 94.424946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.424946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812339; longitude = -121.974356; captureRadius = 10; duration = 52; initialDepth = 55.104410; finalDepth = 54.424946; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.424946 # Seafloor depth:-94.424946 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 95.104410 meters looking forward 0.000000 meters along route # Maximum depth: 95.104410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.104410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812590; longitude = -121.974872; captureRadius = 10; duration = 52; initialDepth = 60.530584; finalDepth = 55.104410; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.10441 # Seafloor depth:-95.104410 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 100.530584 meters looking forward 0.000000 meters along route # Maximum depth: 100.530584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.530584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812829; longitude = -121.975365; captureRadius = 10; duration = 52; initialDepth = 64.854415; finalDepth = 60.530584; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.530584 # Seafloor depth:-100.530584 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 104.854415 meters looking forward 0.000000 meters along route # Maximum depth: 104.854415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.854415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813086; longitude = -121.975893; captureRadius = 10; duration = 52; initialDepth = 73.572910; finalDepth = 64.854415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.854415 # Seafloor depth:-104.854415 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 113.572910 meters looking forward 0.000000 meters along route # Maximum depth: 113.572910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.572910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813319; longitude = -121.976374; captureRadius = 10; duration = 52; initialDepth = 84.075939; finalDepth = 73.572910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:73.57291 # Seafloor depth:-113.572910 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 124.075939 meters looking forward 0.000000 meters along route # Maximum depth: 124.075939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.075939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813564; longitude = -121.976878; captureRadius = 10; duration = 52; initialDepth = 97.272612; finalDepth = 84.075939; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:84.075939 # Seafloor depth:-124.075939 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 137.272612 meters looking forward 0.000000 meters along route # Maximum depth: 137.272612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.272612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813809; longitude = -121.977383; captureRadius = 10; duration = 52; initialDepth = 111.146639; finalDepth = 97.272612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:97.272612 # Seafloor depth:-137.272612 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 151.146639 meters looking forward 0.000000 meters along route # Maximum depth: 151.146639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.146639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814054; longitude = -121.977887; captureRadius = 10; duration = 52; initialDepth = 121.866435; finalDepth = 111.146639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:111.146639 # Seafloor depth:-151.146639 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 161.866435 meters looking forward 0.000000 meters along route # Maximum depth: 161.866435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.866435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814302; longitude = -121.978397; captureRadius = 10; duration = 52; initialDepth = 128.910375; finalDepth = 121.866435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:121.866435 # Seafloor depth:-161.866435 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 168.910375 meters looking forward 0.000000 meters along route # Maximum depth: 168.910375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 128.910375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814545; longitude = -121.978896; captureRadius = 10; duration = 52; initialDepth = 134.077238; finalDepth = 128.910375; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:128.910375 # Seafloor depth:-168.910375 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 174.077238 meters looking forward 0.000000 meters along route # Maximum depth: 174.077238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.077238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814798; longitude = -121.979417; captureRadius = 10; duration = 52; initialDepth = 142.539648; finalDepth = 134.077238; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:134.077238 # Seafloor depth:-174.077238 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 182.539648 meters looking forward 0.000000 meters along route # Maximum depth: 182.539648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.539648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815035; longitude = -121.979905; captureRadius = 10; duration = 52; initialDepth = 155.090845; finalDepth = 142.539648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:142.539648 # Seafloor depth:-182.539648 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 195.090845 meters looking forward 0.000000 meters along route # Maximum depth: 195.090845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.090845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815280; longitude = -121.980409; captureRadius = 10; duration = 52; initialDepth = 171.560017; finalDepth = 155.090845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:155.090845 # Seafloor depth:-195.090845 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 211.560017 meters looking forward 0.000000 meters along route # Maximum depth: 211.560017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.560017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815525; longitude = -121.980913; captureRadius = 10; duration = 52; initialDepth = 189.586528; finalDepth = 171.560017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:171.560017 # Seafloor depth:-211.560017 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 229.586528 meters looking forward 0.000000 meters along route # Maximum depth: 229.586528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.586528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815770; longitude = -121.981418; captureRadius = 10; duration = 52; initialDepth = 207.794028; finalDepth = 189.586528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:189.586528 # Seafloor depth:-229.586528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 247.794028 meters looking forward 0.000000 meters along route # Maximum depth: 247.794028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.794028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816015; longitude = -121.981922; captureRadius = 10; duration = 52; initialDepth = 227.780765; finalDepth = 207.794028; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:207.794028 # Seafloor depth:-247.794028 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 267.780765 meters looking forward 0.000000 meters along route # Maximum depth: 267.780765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.780765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816260; longitude = -121.982427; captureRadius = 10; duration = 52; initialDepth = 247.517234; finalDepth = 227.780765; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:227.780765 # Seafloor depth:-267.780765 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 287.517234 meters looking forward 0.000000 meters along route # Maximum depth: 287.517234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 247.517234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816510; longitude = -121.982942; captureRadius = 10; duration = 52; initialDepth = 270.084724; finalDepth = 247.517234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:247.517234 # Seafloor depth:-287.517234 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 310.084724 meters looking forward 0.000000 meters along route # Maximum depth: 310.084724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.084724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816750; longitude = -121.983435; captureRadius = 10; duration = 52; initialDepth = 294.310815; finalDepth = 270.084724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:270.084724 # Seafloor depth:-310.084724 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 334.310815 meters looking forward 0.000000 meters along route # Maximum depth: 334.310815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.310815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817006; longitude = -121.983962; captureRadius = 10; duration = 52; initialDepth = 316.240463; finalDepth = 294.310815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:294.310815 # Seafloor depth:-334.310815 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 356.240463 meters looking forward 0.000000 meters along route # Maximum depth: 356.240463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 316.240463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817240; longitude = -121.984444; captureRadius = 10; duration = 52; initialDepth = 333.306551; finalDepth = 316.240463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:316.240463 # Seafloor depth:-356.240463 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 373.306551 meters looking forward 0.000000 meters along route # Maximum depth: 373.306551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.306551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817485; longitude = -121.984949; captureRadius = 10; duration = 52; initialDepth = 353.205305; finalDepth = 333.306551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:333.306551 # Seafloor depth:-373.306551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 393.205305 meters looking forward 0.000000 meters along route # Maximum depth: 393.205305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.205305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817730; longitude = -121.985453; captureRadius = 10; duration = 52; initialDepth = 372.862225; finalDepth = 353.205305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:353.205305 # Seafloor depth:-393.205305 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 412.862225 meters looking forward 0.000000 meters along route # Maximum depth: 412.862225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.862225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817975; longitude = -121.985957; captureRadius = 10; duration = 52; initialDepth = 394.618287; finalDepth = 372.862225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.862225 # Seafloor depth:-412.862225 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 434.618287 meters looking forward 0.000000 meters along route # Maximum depth: 434.618287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.618287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818223; longitude = -121.986467; captureRadius = 10; duration = 52; initialDepth = 414.030067; finalDepth = 394.618287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.618287 # Seafloor depth:-434.618287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 454.030067 meters looking forward 0.000000 meters along route # Maximum depth: 454.030067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.030067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818465; longitude = -121.986966; captureRadius = 10; duration = 52; initialDepth = 434.724674; finalDepth = 414.030067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:414.030067 # Seafloor depth:-454.030067 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 474.724674 meters looking forward 0.000000 meters along route # Maximum depth: 474.724674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.724674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818718; longitude = -121.987487; captureRadius = 10; duration = 52; initialDepth = 446.730086; finalDepth = 434.724674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.724674 # Seafloor depth:-474.724674 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 486.730086 meters looking forward 0.000000 meters along route # Maximum depth: 486.730086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.730086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818955; longitude = -121.987975; captureRadius = 10; duration = 52; initialDepth = 453.322058; finalDepth = 446.730086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:446.730086 # Seafloor depth:-486.730086 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 493.322058 meters looking forward 0.000000 meters along route # Maximum depth: 493.322058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.322058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819200; longitude = -121.988479; captureRadius = 10; duration = 52; initialDepth = 458.393372; finalDepth = 453.322058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.322058 # Seafloor depth:-493.322058 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 498.393372 meters looking forward 0.000000 meters along route # Maximum depth: 498.393372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.393372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819445; longitude = -121.988984; captureRadius = 10; duration = 52; initialDepth = 462.984191; finalDepth = 458.393372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.393372 # Seafloor depth:-498.393372 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 502.984191 meters looking forward 0.000000 meters along route # Maximum depth: 502.984191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.984191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819690; longitude = -121.989488; captureRadius = 10; duration = 52; initialDepth = 468.103187; finalDepth = 462.984191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.984191 # Seafloor depth:-502.984191 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 508.103187 meters looking forward 0.000000 meters along route # Maximum depth: 508.103187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.103187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819935; longitude = -121.989993; captureRadius = 10; duration = 52; initialDepth = 470.986661; finalDepth = 468.103187; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.103187 # Seafloor depth:-508.103187 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 510.986661 meters looking forward 0.000000 meters along route # Maximum depth: 510.986661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.986661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820180; longitude = -121.990497; captureRadius = 10; duration = 52; initialDepth = 472.866849; finalDepth = 470.986661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.986661 # Seafloor depth:-510.986661 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 512.866849 meters looking forward 0.000000 meters along route # Maximum depth: 512.866849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.866849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820431; longitude = -121.991012; captureRadius = 10; duration = 52; initialDepth = 471.293495; finalDepth = 472.866849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.866849 # Seafloor depth:-512.866849 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 511.293495 meters looking forward 0.000000 meters along route # Maximum depth: 511.293495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.293495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820671; longitude = -121.991506; captureRadius = 10; duration = 52; initialDepth = 456.235058; finalDepth = 471.293495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.293495 # Seafloor depth:-511.293495 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 496.235058 meters looking forward 0.000000 meters along route # Maximum depth: 496.235058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.235058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820926; longitude = -121.992032; captureRadius = 10; duration = 52; initialDepth = 426.750353; finalDepth = 456.235058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.235058 # Seafloor depth:-496.235058 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 466.750353 meters looking forward 0.000000 meters along route # Maximum depth: 466.750353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.750353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821161; longitude = -121.992515; captureRadius = 10; duration = 52; initialDepth = 399.064896; finalDepth = 426.750353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:426.750353 # Seafloor depth:-466.750353 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 439.064896 meters looking forward 0.000000 meters along route # Maximum depth: 439.064896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.064896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821406; longitude = -121.993019; captureRadius = 10; duration = 52; initialDepth = 394.341485; finalDepth = 399.064896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.064896 # Seafloor depth:-439.064896 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 434.341485 meters looking forward 0.000000 meters along route # Maximum depth: 434.341485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.341485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821651; longitude = -121.993524; captureRadius = 10; duration = 52; initialDepth = 399.413965; finalDepth = 394.341485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.341485 # Seafloor depth:-434.341485 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 439.413965 meters looking forward 0.000000 meters along route # Maximum depth: 439.413965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.413965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821896; longitude = -121.994028; captureRadius = 10; duration = 52; initialDepth = 385.610120; finalDepth = 399.413965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.413965 # Seafloor depth:-439.413965 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 425.610120 meters looking forward 0.000000 meters along route # Maximum depth: 425.610120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.610120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822143; longitude = -121.994537; captureRadius = 10; duration = 52; initialDepth = 358.231239; finalDepth = 385.610120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.61012 # Seafloor depth:-425.610120 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 398.231239 meters looking forward 0.000000 meters along route # Maximum depth: 398.231239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.231239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822386; longitude = -121.995037; captureRadius = 10; duration = 52; initialDepth = 335.797132; finalDepth = 358.231239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:358.231239 # Seafloor depth:-398.231239 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 375.797132 meters looking forward 0.000000 meters along route # Maximum depth: 375.797132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.797132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822639; longitude = -121.995557; captureRadius = 10; duration = 52; initialDepth = 313.656917; finalDepth = 335.797132; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:335.797132 # Seafloor depth:-375.797132 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 353.656917 meters looking forward 0.000000 meters along route # Maximum depth: 353.656917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.656917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822876; longitude = -121.996046; captureRadius = 10; duration = 52; initialDepth = 288.105719; finalDepth = 313.656917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:313.656917 # Seafloor depth:-353.656917 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 328.105719 meters looking forward 0.000000 meters along route # Maximum depth: 328.105719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.105719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823121; longitude = -121.996550; captureRadius = 10; duration = 52; initialDepth = 261.048463; finalDepth = 288.105719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:288.105719 # Seafloor depth:-328.105719 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 301.048463 meters looking forward 0.000000 meters along route # Maximum depth: 301.048463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.048463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823366; longitude = -121.997054; captureRadius = 10; duration = 52; initialDepth = 240.559921; finalDepth = 261.048463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:261.048463 # Seafloor depth:-301.048463 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 280.559921 meters looking forward 0.000000 meters along route # Maximum depth: 280.559921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.559921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823611; longitude = -121.997559; captureRadius = 10; duration = 52; initialDepth = 202.140286; finalDepth = 240.559921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:240.559921 # Seafloor depth:-280.559921 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 242.140286 meters looking forward 0.000000 meters along route # Maximum depth: 242.140286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.140286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823856; longitude = -121.998063; captureRadius = 10; duration = 52; initialDepth = 179.232202; finalDepth = 202.140286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:202.140286 # Seafloor depth:-242.140286 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 219.232202 meters looking forward 0.000000 meters along route # Maximum depth: 219.232202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.232202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824101; longitude = -121.998568; captureRadius = 10; duration = 52; initialDepth = 157.850171; finalDepth = 179.232202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:179.232202 # Seafloor depth:-219.232202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 197.850171 meters looking forward 0.000000 meters along route # Maximum depth: 197.850171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.850171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824351; longitude = -121.999082; captureRadius = 10; duration = 52; initialDepth = 147.726931; finalDepth = 157.850171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:157.850171 # Seafloor depth:-197.850171 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 187.726931 meters looking forward 0.000000 meters along route # Maximum depth: 187.726931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.726931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824591; longitude = -121.999576; captureRadius = 10; duration = 52; initialDepth = 128.082042; finalDepth = 147.726931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:147.726931 # Seafloor depth:-187.726931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 168.082042 meters looking forward 0.000000 meters along route # Maximum depth: 168.082042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 128.082042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824847; longitude = -122.000102; captureRadius = 10; duration = 52; initialDepth = 95.358981; finalDepth = 128.082042; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:128.082042 # Seafloor depth:-168.082042 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 135.358981 meters looking forward 0.000000 meters along route # Maximum depth: 135.358981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.358981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825081; longitude = -122.000585; captureRadius = 10; duration = 52; initialDepth = 73.476148; finalDepth = 95.358981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:95.358981 # Seafloor depth:-135.358981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 113.476148 meters looking forward 0.000000 meters along route # Maximum depth: 113.476148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.476148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825326; longitude = -122.001090; captureRadius = 10; duration = 52; initialDepth = 56.666814; finalDepth = 73.476148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:73.476148 # Seafloor depth:-113.476148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 96.666814 meters looking forward 0.000000 meters along route # Maximum depth: 96.666814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.666814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825571; longitude = -122.001594; captureRadius = 10; duration = 52; initialDepth = 55.346043; finalDepth = 56.666814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.666814 # Seafloor depth:-96.666814 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 95.346043 meters looking forward 0.000000 meters along route # Maximum depth: 95.346043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.346043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825816; longitude = -122.002098; captureRadius = 10; duration = 52; initialDepth = 56.392852; finalDepth = 55.346043; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.346043 # Seafloor depth:-95.346043 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 96.392852 meters looking forward 0.000000 meters along route # Maximum depth: 96.392852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.392852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826063; longitude = -122.002607; captureRadius = 10; duration = 52; initialDepth = 56.528170; finalDepth = 56.392852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.392852 # Seafloor depth:-96.392852 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 96.528170 meters looking forward 0.000000 meters along route # Maximum depth: 96.528170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.528170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826306; longitude = -122.003107; captureRadius = 10; duration = 52; initialDepth = 56.013023; finalDepth = 56.528170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.52817 # Seafloor depth:-96.528170 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 96.013023 meters looking forward 0.000000 meters along route # Maximum depth: 96.013023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.013023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826559; longitude = -122.003627; captureRadius = 10; duration = 52; initialDepth = 55.443941; finalDepth = 56.013023; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.013023 # Seafloor depth:-96.013023 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 95.443941 meters looking forward 0.000000 meters along route # Maximum depth: 95.443941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.443941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826797; longitude = -122.004116; captureRadius = 10; duration = 52; initialDepth = 52.965160; finalDepth = 55.443941; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.443941 # Seafloor depth:-95.443941 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 92.965160 meters looking forward 0.000000 meters along route # Maximum depth: 92.965160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.965160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827042; longitude = -122.004620; captureRadius = 10; duration = 52; initialDepth = 52.933363; finalDepth = 52.965160; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.96516 # Seafloor depth:-92.965160 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 92.933363 meters looking forward 0.000000 meters along route # Maximum depth: 92.933363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.933363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827287; longitude = -122.005125; captureRadius = 10; duration = 52; initialDepth = 52.821887; finalDepth = 52.933363; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.933363 # Seafloor depth:-92.933363 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 92.821887 meters looking forward 0.000000 meters along route # Maximum depth: 92.821887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.821887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827532; longitude = -122.005629; captureRadius = 10; duration = 52; initialDepth = 53.078027; finalDepth = 52.821887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.821887 # Seafloor depth:-92.821887 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 52.790935 meters # Minimum depth: 93.078027 meters looking forward 0.000000 meters along route # Maximum depth: 93.078027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.078027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827777; longitude = -122.006134; captureRadius = 10; duration = 52; initialDepth = 53.237715; finalDepth = 53.078027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.078027 # Seafloor depth:-93.078027 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 170 # Segment length 52.790935 meters # Minimum depth: 93.237715 meters looking forward 0.000000 meters along route # Maximum depth: 93.237715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.237715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828031; longitude = -122.006657; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 52.980529; finalDepth = 53.237715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.237715 # Seafloor depth:-93.237715 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 170 # Segment length 52.790935 meters # Minimum depth: 92.980529 meters looking forward 0.000000 meters along route # Maximum depth: 92.980529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.980529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828226; longitude = -122.006509; captureRadius = 10; duration = 52; initialDepth = 52.506810; finalDepth = 52.980529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.980529 # Seafloor depth:-92.980529 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 170 # Segment length 52.790935 meters # Minimum depth: 92.506810 meters looking forward 0.000000 meters along route # Maximum depth: 92.506810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.506810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828632; longitude = -122.006202; captureRadius = 10; duration = 52; initialDepth = 51.976742; finalDepth = 52.506810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.50681 # Seafloor depth:-92.506810 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 170 # Segment length 52.790935 meters # Minimum depth: 91.976742 meters looking forward 0.000000 meters along route # Maximum depth: 91.976742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.976742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829018; longitude = -122.005909; captureRadius = 10; duration = 52; initialDepth = 51.937689; finalDepth = 51.976742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.976742 # Seafloor depth:-91.976742 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 169 # Segment length 52.790935 meters # Minimum depth: 91.937689 meters looking forward 0.000000 meters along route # Maximum depth: 91.937689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.937689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829413; longitude = -122.005610; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 51.702860; finalDepth = 51.937689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.937689 # Seafloor depth:-91.937689 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 91.702860 meters looking forward 0.000000 meters along route # Maximum depth: 91.702860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.702860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829353; longitude = -122.005494; captureRadius = 10; duration = 52; initialDepth = 52.263180; finalDepth = 51.702860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.70286 # Seafloor depth:-91.702860 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 92.263180 meters looking forward 0.000000 meters along route # Maximum depth: 92.263180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.263180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829103; longitude = -122.005013; captureRadius = 10; duration = 52; initialDepth = 53.382908; finalDepth = 52.263180; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.26318 # Seafloor depth:-92.263180 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 93.382908 meters looking forward 0.000000 meters along route # Maximum depth: 93.382908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.382908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828842; longitude = -122.004508; captureRadius = 10; duration = 52; initialDepth = 53.998709; finalDepth = 53.382908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.382908 # Seafloor depth:-93.382908 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 93.998709 meters looking forward 0.000000 meters along route # Maximum depth: 93.998709 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.998709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828580; longitude = -122.004004; captureRadius = 10; duration = 52; initialDepth = 54.882817; finalDepth = 53.998709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.998709 # Seafloor depth:-93.998709 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 94.882817 meters looking forward 0.000000 meters along route # Maximum depth: 94.882817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.882817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828316; longitude = -122.003494; captureRadius = 10; duration = 52; initialDepth = 55.539147; finalDepth = 54.882817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.882817 # Seafloor depth:-94.882817 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 95.539147 meters looking forward 0.000000 meters along route # Maximum depth: 95.539147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.539147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828046; longitude = -122.002973; captureRadius = 10; duration = 52; initialDepth = 56.051908; finalDepth = 55.539147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.539147 # Seafloor depth:-95.539147 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 96.051908 meters looking forward 0.000000 meters along route # Maximum depth: 96.051908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.051908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827796; longitude = -122.002491; captureRadius = 10; duration = 52; initialDepth = 55.623043; finalDepth = 56.051908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.051908 # Seafloor depth:-96.051908 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 95.623043 meters looking forward 0.000000 meters along route # Maximum depth: 95.623043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.623043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827535; longitude = -122.001986; captureRadius = 10; duration = 52; initialDepth = 66.738646; finalDepth = 55.623043; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.623043 # Seafloor depth:-95.623043 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 106.738646 meters looking forward 0.000000 meters along route # Maximum depth: 106.738646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.738646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827273; longitude = -122.001482; captureRadius = 10; duration = 52; initialDepth = 85.018835; finalDepth = 66.738646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.738646 # Seafloor depth:-106.738646 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 125.018835 meters looking forward 0.000000 meters along route # Maximum depth: 125.018835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.018835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827010; longitude = -122.000973; captureRadius = 10; duration = 52; initialDepth = 109.196184; finalDepth = 85.018835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:85.018835 # Seafloor depth:-125.018835 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 149.196184 meters looking forward 0.000000 meters along route # Maximum depth: 149.196184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.196184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826739; longitude = -122.000452; captureRadius = 10; duration = 52; initialDepth = 128.360559; finalDepth = 109.196184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:109.196184 # Seafloor depth:-149.196184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 168.360559 meters looking forward 0.000000 meters along route # Maximum depth: 168.360559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 128.360559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826489; longitude = -121.999969; captureRadius = 10; duration = 52; initialDepth = 145.862831; finalDepth = 128.360559; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:128.360559 # Seafloor depth:-168.360559 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 185.862831 meters looking forward 0.000000 meters along route # Maximum depth: 185.862831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.862831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826227; longitude = -121.999464; captureRadius = 10; duration = 52; initialDepth = 170.993032; finalDepth = 145.862831; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:145.862831 # Seafloor depth:-185.862831 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 210.993032 meters looking forward 0.000000 meters along route # Maximum depth: 210.993032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.993032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825966; longitude = -121.998960; captureRadius = 10; duration = 52; initialDepth = 197.926890; finalDepth = 170.993032; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:170.993032 # Seafloor depth:-210.993032 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 247.610100 meters looking forward 0.000000 meters along route # Maximum depth: 247.610100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.926890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825703; longitude = -121.998452; captureRadius = 10; duration = 52; initialDepth = 225.603160; finalDepth = 197.926890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6832104999998 # Actual altitude: 50 # Commanded vehicle depth:197.9268895 # Seafloor depth:-247.610100 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 268.257209 meters looking forward 0.000000 meters along route # Maximum depth: 268.257209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.603160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825432; longitude = -121.997931; captureRadius = 10; duration = 52; initialDepth = 243.924662; finalDepth = 225.603160; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6832104999998 # Actual altitude: 50 # Commanded vehicle depth:225.6031595 # Seafloor depth:-268.257209 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 283.924662 meters looking forward 0.000000 meters along route # Maximum depth: 283.924662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 243.924662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825182; longitude = -121.997447; captureRadius = 10; duration = 52; initialDepth = 248.732635; finalDepth = 243.924662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.6540494999999 # Actual altitude: 50 # Commanded vehicle depth:243.924662 # Seafloor depth:-283.924662 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 288.732635 meters looking forward 0.000000 meters along route # Maximum depth: 288.732635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 248.732635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824920; longitude = -121.996942; captureRadius = 10; duration = 52; initialDepth = 257.525812; finalDepth = 248.732635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:248.732635 # Seafloor depth:-288.732635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 297.525812 meters looking forward 0.000000 meters along route # Maximum depth: 297.525812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.525812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824659; longitude = -121.996438; captureRadius = 10; duration = 52; initialDepth = 254.956396; finalDepth = 257.525812; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:257.525812 # Seafloor depth:-297.525812 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 294.956396 meters looking forward 0.000000 meters along route # Maximum depth: 294.956396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.956396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824396; longitude = -121.995931; captureRadius = 10; duration = 52; initialDepth = 269.668832; finalDepth = 254.956396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:254.956396 # Seafloor depth:-294.956396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 309.668832 meters looking forward 0.000000 meters along route # Maximum depth: 309.668832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.668832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824126; longitude = -121.995409; captureRadius = 10; duration = 52; initialDepth = 271.843739; finalDepth = 269.668832; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:269.668832 # Seafloor depth:-309.668832 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 311.843739 meters looking forward 0.000000 meters along route # Maximum depth: 311.843739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.843739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823874; longitude = -121.994925; captureRadius = 10; duration = 52; initialDepth = 296.856153; finalDepth = 271.843739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:271.843739 # Seafloor depth:-311.843739 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 342.250238 meters looking forward 0.000000 meters along route # Maximum depth: 342.250238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.856153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823630; longitude = -121.994453; captureRadius = 10; duration = 52; initialDepth = 322.397639; finalDepth = 296.856153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3940850000029 # Actual altitude: 50 # Commanded vehicle depth:296.856152999997 # Seafloor depth:-342.250238 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 372.601458 meters looking forward 0.000000 meters along route # Maximum depth: 372.601458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.397639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823380; longitude = -121.993972; captureRadius = 10; duration = 52; initialDepth = 349.161565; finalDepth = 322.397639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.203819000001 # Actual altitude: 50.203819000001 # Commanded vehicle depth:322.397638999999 # Seafloor depth:-372.601458 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 401.952710 meters looking forward 0.000000 meters along route # Maximum depth: 401.952710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.161565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823119; longitude = -121.993467; captureRadius = 10; duration = 52; initialDepth = 375.925557; finalDepth = 349.161565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7911450000014 # Actual altitude: 52.7911450000014 # Commanded vehicle depth:349.161564999999 # Seafloor depth:-401.952710 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 425.793491 meters looking forward 0.000000 meters along route # Maximum depth: 425.793491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.925557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822858; longitude = -121.992963; captureRadius = 10; duration = 52; initialDepth = 402.951003; finalDepth = 375.925557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7911450000014 # Actual altitude: 52.7911450000014 # Commanded vehicle depth:375.925557499999 # Seafloor depth:-425.793491 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 452.446321 meters looking forward 0.000000 meters along route # Maximum depth: 452.446321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.951003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822594; longitude = -121.992454; captureRadius = 10; duration = 52; initialDepth = 430.628092; finalDepth = 402.951003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8679335000011 # Actual altitude: 50 # Commanded vehicle depth:402.951002999998 # Seafloor depth:-452.446321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 478.081969 meters looking forward 0.000000 meters along route # Maximum depth: 478.081969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.628092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822323; longitude = -121.991932; captureRadius = 10; duration = 52; initialDepth = 449.988915; finalDepth = 430.628092; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4953180000016 # Actual altitude: 50 # Commanded vehicle depth:430.628092499999 # Seafloor depth:-478.081969 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 489.988915 meters looking forward 0.000000 meters along route # Maximum depth: 489.988915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.988915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822073; longitude = -121.991450; captureRadius = 10; duration = 52; initialDepth = 456.411005; finalDepth = 449.988915; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4538765000007 # Actual altitude: 50 # Commanded vehicle depth:449.988915 # Seafloor depth:-489.988915 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 496.411005 meters looking forward 0.000000 meters along route # Maximum depth: 496.411005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.411005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821828; longitude = -121.990976; captureRadius = 10; duration = 52; initialDepth = 458.639297; finalDepth = 456.411005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.411005 # Seafloor depth:-496.411005 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 498.639297 meters looking forward 0.000000 meters along route # Maximum depth: 498.639297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.639297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821579; longitude = -121.990497; captureRadius = 10; duration = 52; initialDepth = 459.905765; finalDepth = 458.639297; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.639297 # Seafloor depth:-498.639297 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 52.790935 meters # Minimum depth: 499.905765 meters looking forward 0.000000 meters along route # Maximum depth: 499.905765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.905765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821332; longitude = -121.990020; captureRadius = 10; duration = 52; initialDepth = 457.791130; finalDepth = 459.905765; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:459.905765 # Seafloor depth:-499.905765 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 168 # Segment length 52.790935 meters # Minimum depth: 497.791130 meters looking forward 0.000000 meters along route # Maximum depth: 497.791130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.791130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821076; longitude = -121.989526; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 457.471064; finalDepth = 457.791130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.79113 # Seafloor depth:-497.791130 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 497.471064 meters looking forward 0.000000 meters along route # Maximum depth: 497.471064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.471064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821058; longitude = -121.989488; captureRadius = 10; duration = 52; initialDepth = 453.210445; finalDepth = 457.471064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.471064 # Seafloor depth:-497.471064 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 493.210445 meters looking forward 0.000000 meters along route # Maximum depth: 493.210445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.210445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820817; longitude = -121.988984; captureRadius = 10; duration = 52; initialDepth = 449.582394; finalDepth = 453.210445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.210445 # Seafloor depth:-493.210445 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 489.582394 meters looking forward 0.000000 meters along route # Maximum depth: 489.582394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.582394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820566; longitude = -121.988457; captureRadius = 10; duration = 52; initialDepth = 445.185431; finalDepth = 449.582394; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:449.582394 # Seafloor depth:-489.582394 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 485.185431 meters looking forward 0.000000 meters along route # Maximum depth: 485.185431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.185431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820336; longitude = -121.987975; captureRadius = 10; duration = 52; initialDepth = 438.307693; finalDepth = 445.185431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.185431 # Seafloor depth:-485.185431 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 478.307693 meters looking forward 0.000000 meters along route # Maximum depth: 478.307693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.307693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820095; longitude = -121.987471; captureRadius = 10; duration = 52; initialDepth = 422.716740; finalDepth = 438.307693; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:438.307693 # Seafloor depth:-478.307693 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 462.716740 meters looking forward 0.000000 meters along route # Maximum depth: 462.716740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.716740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819845; longitude = -121.986947; captureRadius = 10; duration = 52; initialDepth = 401.180449; finalDepth = 422.716740; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:422.71674 # Seafloor depth:-462.716740 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 441.180449 meters looking forward 0.000000 meters along route # Maximum depth: 441.180449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.180449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819613; longitude = -121.986462; captureRadius = 10; duration = 52; initialDepth = 378.690546; finalDepth = 401.180449; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:401.180449 # Seafloor depth:-441.180449 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 418.690546 meters looking forward 0.000000 meters along route # Maximum depth: 418.690546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.690546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819373; longitude = -121.985957; captureRadius = 10; duration = 52; initialDepth = 358.216027; finalDepth = 378.690546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:378.690546 # Seafloor depth:-418.690546 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 398.216027 meters looking forward 0.000000 meters along route # Maximum depth: 398.216027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.216027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819124; longitude = -121.985436; captureRadius = 10; duration = 52; initialDepth = 340.790359; finalDepth = 358.216027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:358.216027 # Seafloor depth:-398.216027 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 380.790359 meters looking forward 0.000000 meters along route # Maximum depth: 380.790359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 340.790359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818891; longitude = -121.984949; captureRadius = 10; duration = 52; initialDepth = 324.149700; finalDepth = 340.790359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:340.790359 # Seafloor depth:-380.790359 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 364.149700 meters looking forward 0.000000 meters along route # Maximum depth: 364.149700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.149700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818650; longitude = -121.984444; captureRadius = 10; duration = 52; initialDepth = 307.472696; finalDepth = 324.149700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:324.1497 # Seafloor depth:-364.149700 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 347.472696 meters looking forward 0.000000 meters along route # Maximum depth: 347.472696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 307.472696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818403; longitude = -121.983926; captureRadius = 10; duration = 52; initialDepth = 287.633280; finalDepth = 307.472696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:307.472696 # Seafloor depth:-347.472696 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 327.633280 meters looking forward 0.000000 meters along route # Maximum depth: 327.633280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.633280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818169; longitude = -121.983435; captureRadius = 10; duration = 52; initialDepth = 265.834161; finalDepth = 287.633280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:287.63328 # Seafloor depth:-327.633280 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 305.834161 meters looking forward 0.000000 meters along route # Maximum depth: 305.834161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.834161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817928; longitude = -121.982931; captureRadius = 10; duration = 52; initialDepth = 245.222167; finalDepth = 265.834161; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:265.834161 # Seafloor depth:-305.834161 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 285.222167 meters looking forward 0.000000 meters along route # Maximum depth: 285.222167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.222167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817682; longitude = -121.982416; captureRadius = 10; duration = 52; initialDepth = 229.480025; finalDepth = 245.222167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:245.222167 # Seafloor depth:-285.222167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 269.480025 meters looking forward 0.000000 meters along route # Maximum depth: 269.480025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.480025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817446; longitude = -121.981922; captureRadius = 10; duration = 52; initialDepth = 211.374249; finalDepth = 229.480025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:229.480025 # Seafloor depth:-269.480025 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 251.374249 meters looking forward 0.000000 meters along route # Maximum depth: 251.374249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.374249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817206; longitude = -121.981418; captureRadius = 10; duration = 52; initialDepth = 189.244907; finalDepth = 211.374249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:211.374249 # Seafloor depth:-251.374249 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 229.244907 meters looking forward 0.000000 meters along route # Maximum depth: 229.244907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.244907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816961; longitude = -121.980905; captureRadius = 10; duration = 52; initialDepth = 166.826046; finalDepth = 189.244907; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:189.244907 # Seafloor depth:-229.244907 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 206.826046 meters looking forward 0.000000 meters along route # Maximum depth: 206.826046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.826046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816724; longitude = -121.980409; captureRadius = 10; duration = 52; initialDepth = 150.508465; finalDepth = 166.826046; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:166.826046 # Seafloor depth:-206.826046 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 190.508465 meters looking forward 0.000000 meters along route # Maximum depth: 190.508465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.508465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816483; longitude = -121.979905; captureRadius = 10; duration = 52; initialDepth = 136.408119; finalDepth = 150.508465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:150.508465 # Seafloor depth:-190.508465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 176.408119 meters looking forward 0.000000 meters along route # Maximum depth: 176.408119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.408119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816240; longitude = -121.979395; captureRadius = 10; duration = 52; initialDepth = 125.445964; finalDepth = 136.408119; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:136.408119 # Seafloor depth:-176.408119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 165.445964 meters looking forward 0.000000 meters along route # Maximum depth: 165.445964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.445964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816002; longitude = -121.978896; captureRadius = 10; duration = 52; initialDepth = 116.390636; finalDepth = 125.445964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:125.445964 # Seafloor depth:-165.445964 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 156.390636 meters looking forward 0.000000 meters along route # Maximum depth: 156.390636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.390636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815761; longitude = -121.978391; captureRadius = 10; duration = 52; initialDepth = 103.924619; finalDepth = 116.390636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:116.390636 # Seafloor depth:-156.390636 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 143.924619 meters looking forward 0.000000 meters along route # Maximum depth: 143.924619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.924619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815519; longitude = -121.977884; captureRadius = 10; duration = 52; initialDepth = 87.491497; finalDepth = 103.924619; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:103.924619 # Seafloor depth:-143.924619 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 127.491497 meters looking forward 0.000000 meters along route # Maximum depth: 127.491497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 87.491497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815279; longitude = -121.977383; captureRadius = 10; duration = 52; initialDepth = 71.760311; finalDepth = 87.491497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:87.491497 # Seafloor depth:-127.491497 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 111.760311 meters looking forward 0.000000 meters along route # Maximum depth: 111.760311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.760311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815039; longitude = -121.976878; captureRadius = 10; duration = 52; initialDepth = 60.222812; finalDepth = 71.760311; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:71.760311 # Seafloor depth:-111.760311 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 100.222812 meters looking forward 0.000000 meters along route # Maximum depth: 100.222812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.222812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814798; longitude = -121.976374; captureRadius = 10; duration = 52; initialDepth = 57.633741; finalDepth = 60.222812; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.222812 # Seafloor depth:-100.222812 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 97.633741 meters looking forward 0.000000 meters along route # Maximum depth: 97.633741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.633741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814557; longitude = -121.975869; captureRadius = 10; duration = 52; initialDepth = 56.729621; finalDepth = 57.633741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.633741 # Seafloor depth:-97.633741 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 96.729621 meters looking forward 0.000000 meters along route # Maximum depth: 96.729621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.729621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814316; longitude = -121.975365; captureRadius = 10; duration = 52; initialDepth = 55.672321; finalDepth = 56.729621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.729621 # Seafloor depth:-96.729621 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 95.672321 meters looking forward 0.000000 meters along route # Maximum depth: 95.672321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.672321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814075; longitude = -121.974861; captureRadius = 10; duration = 52; initialDepth = 54.629076; finalDepth = 55.672321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.672321 # Seafloor depth:-95.672321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 94.629076 meters looking forward 0.000000 meters along route # Maximum depth: 94.629076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.629076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813835; longitude = -121.974356; captureRadius = 10; duration = 52; initialDepth = 53.895546; finalDepth = 54.629076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.629076 # Seafloor depth:-94.629076 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 93.895546 meters looking forward 0.000000 meters along route # Maximum depth: 93.895546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.895546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813594; longitude = -121.973852; captureRadius = 10; duration = 52; initialDepth = 53.598210; finalDepth = 53.895546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.895546 # Seafloor depth:-93.895546 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 93.598210 meters looking forward 0.000000 meters along route # Maximum depth: 93.598210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.598210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813353; longitude = -121.973347; captureRadius = 10; duration = 52; initialDepth = 53.616014; finalDepth = 53.598210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.59821 # Seafloor depth:-93.598210 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 93.616014 meters looking forward 0.000000 meters along route # Maximum depth: 93.616014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.616014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813112; longitude = -121.972843; captureRadius = 10; duration = 52; initialDepth = 53.222611; finalDepth = 53.616014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.616014 # Seafloor depth:-93.616014 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 93.222611 meters looking forward 0.000000 meters along route # Maximum depth: 93.222611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.222611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812872; longitude = -121.972339; captureRadius = 10; duration = 52; initialDepth = 52.256079; finalDepth = 53.222611; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.222611 # Seafloor depth:-93.222611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 92.256079 meters looking forward 0.000000 meters along route # Maximum depth: 92.256079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.256079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812631; longitude = -121.971834; captureRadius = 10; duration = 52; initialDepth = 52.101725; finalDepth = 52.256079; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.256079 # Seafloor depth:-92.256079 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 92.101725 meters looking forward 0.000000 meters along route # Maximum depth: 92.101725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.101725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812390; longitude = -121.971330; captureRadius = 10; duration = 52; initialDepth = 52.081804; finalDepth = 52.101725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.101725 # Seafloor depth:-92.101725 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 92.081804 meters looking forward 0.000000 meters along route # Maximum depth: 92.081804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.081804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812139; longitude = -121.970804; captureRadius = 10; duration = 52; initialDepth = 51.946473; finalDepth = 52.081804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.081804 # Seafloor depth:-92.081804 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 91.946473 meters looking forward 0.000000 meters along route # Maximum depth: 91.946473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.946473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811908; longitude = -121.970321; captureRadius = 10; duration = 52; initialDepth = 52.768215; finalDepth = 51.946473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.946473 # Seafloor depth:-91.946473 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 92.768215 meters looking forward 0.000000 meters along route # Maximum depth: 92.768215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.768215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811668; longitude = -121.969817; captureRadius = 10; duration = 52; initialDepth = 52.593032; finalDepth = 52.768215; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.768215 # Seafloor depth:-92.768215 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 92.593032 meters looking forward 0.000000 meters along route # Maximum depth: 92.593032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.593032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811418; longitude = -121.969294; captureRadius = 10; duration = 52; initialDepth = 52.553219; finalDepth = 52.593032; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.593032 # Seafloor depth:-92.593032 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 92.553219 meters looking forward 0.000000 meters along route # Maximum depth: 92.553219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.553219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811186; longitude = -121.968808; captureRadius = 10; duration = 52; initialDepth = 52.358856; finalDepth = 52.553219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.553219 # Seafloor depth:-92.553219 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 92.358856 meters looking forward 0.000000 meters along route # Maximum depth: 92.358856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.358856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810945; longitude = -121.968303; captureRadius = 10; duration = 52; initialDepth = 52.580085; finalDepth = 52.358856; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.358856 # Seafloor depth:-92.358856 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 92.580085 meters looking forward 0.000000 meters along route # Maximum depth: 92.580085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.580085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810697; longitude = -121.967784; captureRadius = 10; duration = 52; initialDepth = 52.319107; finalDepth = 52.580085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.580085 # Seafloor depth:-92.580085 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 52.790935 meters # Minimum depth: 92.319107 meters looking forward 0.000000 meters along route # Maximum depth: 92.319107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.319107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810464; longitude = -121.967295; captureRadius = 10; duration = 52; initialDepth = 53.563955; finalDepth = 52.319107; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.319107 # Seafloor depth:-92.319107 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 167 # Segment length 52.790935 meters # Minimum depth: 93.563955 meters looking forward 0.000000 meters along route # Maximum depth: 93.563955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.563955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810232; longitude = -121.966809; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 52.695512; finalDepth = 53.563955; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.563955 # Seafloor depth:-93.563955 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 167 # Segment length 52.790935 meters # Minimum depth: 92.695512 meters looking forward 0.000000 meters along route # Maximum depth: 92.695512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.695512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810539; longitude = -121.966566; captureRadius = 10; duration = 52; initialDepth = 52.478102; finalDepth = 52.695512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.695512 # Seafloor depth:-92.695512 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 167 # Segment length 52.790935 meters # Minimum depth: 92.478102 meters looking forward 0.000000 meters along route # Maximum depth: 92.478102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.478102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810923; longitude = -121.966263; captureRadius = 10; duration = 52; initialDepth = 52.143209; finalDepth = 52.478102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.478102 # Seafloor depth:-92.478102 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 166 # Segment length 52.790935 meters # Minimum depth: 92.143209 meters looking forward 0.000000 meters along route # Maximum depth: 92.143209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.143209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811343; longitude = -121.965931; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 51.227099; finalDepth = 52.143209; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.143209 # Seafloor depth:-92.143209 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 91.227099 meters looking forward 0.000000 meters along route # Maximum depth: 91.227099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.227099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811540; longitude = -121.966342; captureRadius = 10; duration = 52; initialDepth = 51.702960; finalDepth = 51.227099; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.227099 # Seafloor depth:-91.227099 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 91.702960 meters looking forward 0.000000 meters along route # Maximum depth: 91.702960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.702960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811781; longitude = -121.966846; captureRadius = 10; duration = 52; initialDepth = 51.468205; finalDepth = 51.702960; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.70296 # Seafloor depth:-91.702960 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 91.468205 meters looking forward 0.000000 meters along route # Maximum depth: 91.468205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.468205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812023; longitude = -121.967351; captureRadius = 10; duration = 52; initialDepth = 51.936120; finalDepth = 51.468205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.468205 # Seafloor depth:-91.468205 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 91.936120 meters looking forward 0.000000 meters along route # Maximum depth: 91.936120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.936120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812274; longitude = -121.967876; captureRadius = 10; duration = 52; initialDepth = 51.948267; finalDepth = 51.936120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.93612 # Seafloor depth:-91.936120 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 91.948267 meters looking forward 0.000000 meters along route # Maximum depth: 91.948267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.948267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812506; longitude = -121.968359; captureRadius = 10; duration = 52; initialDepth = 52.275153; finalDepth = 51.948267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.948267 # Seafloor depth:-91.948267 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 92.275153 meters looking forward 0.000000 meters along route # Maximum depth: 92.275153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.275153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812747; longitude = -121.968864; captureRadius = 10; duration = 52; initialDepth = 52.156404; finalDepth = 52.275153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.275153 # Seafloor depth:-92.275153 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 92.156404 meters looking forward 0.000000 meters along route # Maximum depth: 92.156404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.156404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812995; longitude = -121.969382; captureRadius = 10; duration = 52; initialDepth = 51.856417; finalDepth = 52.156404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.156404 # Seafloor depth:-92.156404 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 91.856417 meters looking forward 0.000000 meters along route # Maximum depth: 91.856417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.856417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813230; longitude = -121.969873; captureRadius = 10; duration = 52; initialDepth = 51.477331; finalDepth = 51.856417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.856417 # Seafloor depth:-91.856417 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 91.477331 meters looking forward 0.000000 meters along route # Maximum depth: 91.477331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.477331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813472; longitude = -121.970377; captureRadius = 10; duration = 52; initialDepth = 51.680084; finalDepth = 51.477331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.477331 # Seafloor depth:-91.477331 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 91.680084 meters looking forward 0.000000 meters along route # Maximum depth: 91.680084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.680084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813716; longitude = -121.970888; captureRadius = 10; duration = 52; initialDepth = 52.296280; finalDepth = 51.680084; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.680084 # Seafloor depth:-91.680084 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 92.296280 meters looking forward 0.000000 meters along route # Maximum depth: 92.296280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.296280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813955; longitude = -121.971386; captureRadius = 10; duration = 52; initialDepth = 52.668455; finalDepth = 52.296280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.29628 # Seafloor depth:-92.296280 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 92.668455 meters looking forward 0.000000 meters along route # Maximum depth: 92.668455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.668455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814197; longitude = -121.971890; captureRadius = 10; duration = 52; initialDepth = 52.623318; finalDepth = 52.668455; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.668455 # Seafloor depth:-92.668455 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 92.623318 meters looking forward 0.000000 meters along route # Maximum depth: 92.623318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.623318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814438; longitude = -121.972395; captureRadius = 10; duration = 52; initialDepth = 53.727044; finalDepth = 52.623318; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.623318 # Seafloor depth:-92.623318 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 93.727044 meters looking forward 0.000000 meters along route # Maximum depth: 93.727044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.727044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814680; longitude = -121.972899; captureRadius = 10; duration = 52; initialDepth = 54.569254; finalDepth = 53.727044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.727044 # Seafloor depth:-93.727044 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 94.569254 meters looking forward 0.000000 meters along route # Maximum depth: 94.569254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.569254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814921; longitude = -121.973403; captureRadius = 10; duration = 52; initialDepth = 55.495776; finalDepth = 54.569254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.569254 # Seafloor depth:-94.569254 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 95.495776 meters looking forward 0.000000 meters along route # Maximum depth: 95.495776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.495776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815163; longitude = -121.973908; captureRadius = 10; duration = 52; initialDepth = 56.119669; finalDepth = 55.495776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.495776 # Seafloor depth:-95.495776 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 96.119669 meters looking forward 0.000000 meters along route # Maximum depth: 96.119669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.119669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815404; longitude = -121.974412; captureRadius = 10; duration = 52; initialDepth = 56.160838; finalDepth = 56.119669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.119669 # Seafloor depth:-96.119669 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 96.160838 meters looking forward 0.000000 meters along route # Maximum depth: 96.160838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.160838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815654; longitude = -121.974934; captureRadius = 10; duration = 52; initialDepth = 57.118689; finalDepth = 56.160838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.160838 # Seafloor depth:-96.160838 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 97.118689 meters looking forward 0.000000 meters along route # Maximum depth: 97.118689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.118689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815887; longitude = -121.975421; captureRadius = 10; duration = 52; initialDepth = 60.167931; finalDepth = 57.118689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.118689 # Seafloor depth:-97.118689 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 100.167931 meters looking forward 0.000000 meters along route # Maximum depth: 100.167931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.167931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816129; longitude = -121.975926; captureRadius = 10; duration = 52; initialDepth = 62.628649; finalDepth = 60.167931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.167931 # Seafloor depth:-100.167931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 102.628649 meters looking forward 0.000000 meters along route # Maximum depth: 102.628649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.628649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816375; longitude = -121.976440; captureRadius = 10; duration = 52; initialDepth = 70.636814; finalDepth = 62.628649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.628649 # Seafloor depth:-102.628649 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 110.636814 meters looking forward 0.000000 meters along route # Maximum depth: 110.636814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.636814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816612; longitude = -121.976934; captureRadius = 10; duration = 52; initialDepth = 81.463851; finalDepth = 70.636814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:70.636814 # Seafloor depth:-110.636814 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 121.463851 meters looking forward 0.000000 meters along route # Maximum depth: 121.463851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.463851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816853; longitude = -121.977439; captureRadius = 10; duration = 52; initialDepth = 101.358071; finalDepth = 81.463851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:81.463851 # Seafloor depth:-121.463851 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 141.358071 meters looking forward 0.000000 meters along route # Maximum depth: 141.358071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.358071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817096; longitude = -121.977946; captureRadius = 10; duration = 52; initialDepth = 120.076819; finalDepth = 101.358071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:101.358071 # Seafloor depth:-141.358071 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 160.076819 meters looking forward 0.000000 meters along route # Maximum depth: 160.076819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.076819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817336; longitude = -121.978448; captureRadius = 10; duration = 52; initialDepth = 137.622817; finalDepth = 120.076819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:120.076819 # Seafloor depth:-160.076819 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 177.622817 meters looking forward 0.000000 meters along route # Maximum depth: 177.622817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.622817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817578; longitude = -121.978952; captureRadius = 10; duration = 52; initialDepth = 158.083284; finalDepth = 137.622817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:137.622817 # Seafloor depth:-177.622817 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 198.083284 meters looking forward 0.000000 meters along route # Maximum depth: 198.083284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 158.083284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817819; longitude = -121.979456; captureRadius = 10; duration = 52; initialDepth = 177.728221; finalDepth = 158.083284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:158.083284 # Seafloor depth:-198.083284 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 217.728221 meters looking forward 0.000000 meters along route # Maximum depth: 217.728221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.728221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818061; longitude = -121.979961; captureRadius = 10; duration = 52; initialDepth = 200.038992; finalDepth = 177.728221; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:177.728221 # Seafloor depth:-217.728221 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 240.038992 meters looking forward 0.000000 meters along route # Maximum depth: 240.038992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 200.038992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818313; longitude = -121.980486; captureRadius = 10; duration = 52; initialDepth = 219.016635; finalDepth = 200.038992; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:200.038992 # Seafloor depth:-240.038992 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 259.016635 meters looking forward 0.000000 meters along route # Maximum depth: 259.016635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.016635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818544; longitude = -121.980970; captureRadius = 10; duration = 52; initialDepth = 239.669814; finalDepth = 219.016635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:219.016635 # Seafloor depth:-259.016635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 279.669814 meters looking forward 0.000000 meters along route # Maximum depth: 279.669814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.669814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818786; longitude = -121.981474; captureRadius = 10; duration = 52; initialDepth = 264.799364; finalDepth = 239.669814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:239.669814 # Seafloor depth:-279.669814 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 304.799364 meters looking forward 0.000000 meters along route # Maximum depth: 304.799364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.799364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819034; longitude = -121.981992; captureRadius = 10; duration = 52; initialDepth = 290.116914; finalDepth = 264.799364; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:264.799364 # Seafloor depth:-304.799364 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 330.116914 meters looking forward 0.000000 meters along route # Maximum depth: 330.116914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.116914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819269; longitude = -121.982483; captureRadius = 10; duration = 52; initialDepth = 305.421720; finalDepth = 290.116914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:290.116914 # Seafloor depth:-330.116914 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 345.421720 meters looking forward 0.000000 meters along route # Maximum depth: 345.421720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 305.421720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819510; longitude = -121.982987; captureRadius = 10; duration = 52; initialDepth = 319.722968; finalDepth = 305.421720; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:305.42172 # Seafloor depth:-345.421720 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 359.722968 meters looking forward 0.000000 meters along route # Maximum depth: 359.722968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 319.722968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819755; longitude = -121.983498; captureRadius = 10; duration = 52; initialDepth = 336.480904; finalDepth = 319.722968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:319.722968 # Seafloor depth:-359.722968 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 376.480904 meters looking forward 0.000000 meters along route # Maximum depth: 376.480904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.480904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819993; longitude = -121.983996; captureRadius = 10; duration = 52; initialDepth = 355.218713; finalDepth = 336.480904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:336.480904 # Seafloor depth:-376.480904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 395.218713 meters looking forward 0.000000 meters along route # Maximum depth: 395.218713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.218713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820235; longitude = -121.984500; captureRadius = 10; duration = 52; initialDepth = 378.154385; finalDepth = 355.218713; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:355.218713 # Seafloor depth:-395.218713 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 418.154385 meters looking forward 0.000000 meters along route # Maximum depth: 418.154385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.154385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820476; longitude = -121.985005; captureRadius = 10; duration = 52; initialDepth = 402.971984; finalDepth = 378.154385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:378.154385 # Seafloor depth:-418.154385 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 442.971984 meters looking forward 0.000000 meters along route # Maximum depth: 442.971984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.971984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820718; longitude = -121.985509; captureRadius = 10; duration = 52; initialDepth = 419.497732; finalDepth = 402.971984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:402.971984 # Seafloor depth:-442.971984 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 459.497732 meters looking forward 0.000000 meters along route # Maximum depth: 459.497732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.497732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820959; longitude = -121.986014; captureRadius = 10; duration = 52; initialDepth = 435.978366; finalDepth = 419.497732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.497732 # Seafloor depth:-459.497732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 475.978366 meters looking forward 0.000000 meters along route # Maximum depth: 475.978366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.978366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821201; longitude = -121.986518; captureRadius = 10; duration = 52; initialDepth = 439.506845; finalDepth = 435.978366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.978366 # Seafloor depth:-475.978366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 479.506845 meters looking forward 0.000000 meters along route # Maximum depth: 479.506845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.506845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821442; longitude = -121.987022; captureRadius = 10; duration = 52; initialDepth = 442.964520; finalDepth = 439.506845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:439.506845 # Seafloor depth:-479.506845 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 482.964520 meters looking forward 0.000000 meters along route # Maximum depth: 482.964520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.964520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821692; longitude = -121.987544; captureRadius = 10; duration = 52; initialDepth = 445.320282; finalDepth = 442.964520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.96452 # Seafloor depth:-482.964520 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 52.790935 meters # Minimum depth: 485.320282 meters looking forward 0.000000 meters along route # Maximum depth: 485.320282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.320282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821925; longitude = -121.988031; captureRadius = 10; duration = 52; initialDepth = 446.335587; finalDepth = 445.320282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.320282 # Seafloor depth:-485.320282 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 165 # Segment length 52.790935 meters # Minimum depth: 486.335587 meters looking forward 0.000000 meters along route # Maximum depth: 486.335587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.335587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822158; longitude = -121.988517; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 444.228707; finalDepth = 446.335587; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:446.335587 # Seafloor depth:-486.335587 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 52.790935 meters # Minimum depth: 484.228707 meters looking forward 0.000000 meters along route # Maximum depth: 484.228707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.228707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822278; longitude = -121.988401; captureRadius = 10; duration = 52; initialDepth = 439.908534; finalDepth = 444.228707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.228707 # Seafloor depth:-484.228707 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 52.790935 meters # Minimum depth: 479.908534 meters looking forward 0.000000 meters along route # Maximum depth: 479.908534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.908534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822639; longitude = -121.988052; captureRadius = 10; duration = 52; initialDepth = 437.094989; finalDepth = 439.908534; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:439.908534 # Seafloor depth:-479.908534 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 52.790935 meters # Minimum depth: 477.094989 meters looking forward 0.000000 meters along route # Maximum depth: 477.094989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.094989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822999; longitude = -121.987703; captureRadius = 10; duration = 52; initialDepth = 434.010671; finalDepth = 437.094989; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.094989 # Seafloor depth:-477.094989 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 52.790935 meters # Minimum depth: 474.010671 meters looking forward 0.000000 meters along route # Maximum depth: 474.010671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.010671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823360; longitude = -121.987354; captureRadius = 10; duration = 52; initialDepth = 430.224222; finalDepth = 434.010671; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.010671 # Seafloor depth:-474.010671 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 52.790935 meters # Minimum depth: 470.224222 meters looking forward 0.000000 meters along route # Maximum depth: 470.224222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.224222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823720; longitude = -121.987004; captureRadius = 10; duration = 52; initialDepth = 424.884475; finalDepth = 430.224222; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:430.224222 # Seafloor depth:-470.224222 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 52.790935 meters # Minimum depth: 464.884475 meters looking forward 0.000000 meters along route # Maximum depth: 464.884475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.884475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824081; longitude = -121.986655; captureRadius = 10; duration = 52; initialDepth = 419.650890; finalDepth = 424.884475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:424.884475 # Seafloor depth:-464.884475 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 52.790935 meters # Minimum depth: 459.650890 meters looking forward 0.000000 meters along route # Maximum depth: 459.650890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.650890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824441; longitude = -121.986306; captureRadius = 10; duration = 52; initialDepth = 412.638263; finalDepth = 419.650890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.65089 # Seafloor depth:-459.650890 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 52.790935 meters # Minimum depth: 452.638263 meters looking forward 0.000000 meters along route # Maximum depth: 452.638263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.638263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824802; longitude = -121.985957; captureRadius = 10; duration = 52; initialDepth = 407.839368; finalDepth = 412.638263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:412.638263 # Seafloor depth:-452.638263 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 52.790935 meters # Minimum depth: 447.839368 meters looking forward 0.000000 meters along route # Maximum depth: 447.839368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.839368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825162; longitude = -121.985608; captureRadius = 10; duration = 52; initialDepth = 398.587230; finalDepth = 407.839368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:407.839368 # Seafloor depth:-447.839368 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 52.790935 meters # Minimum depth: 438.587230 meters looking forward 0.000000 meters along route # Maximum depth: 438.587230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.587230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825523; longitude = -121.985259; captureRadius = 10; duration = 52; initialDepth = 388.557012; finalDepth = 398.587230; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.58723 # Seafloor depth:-438.587230 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 52.790935 meters # Minimum depth: 428.557012 meters looking forward 0.000000 meters along route # Maximum depth: 428.557012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.557012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825883; longitude = -121.984910; captureRadius = 10; duration = 52; initialDepth = 374.274478; finalDepth = 388.557012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.557012 # Seafloor depth:-428.557012 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 52.790935 meters # Minimum depth: 414.274478 meters looking forward 0.000000 meters along route # Maximum depth: 414.274478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.274478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826248; longitude = -121.984556; captureRadius = 10; duration = 52; initialDepth = 357.678261; finalDepth = 374.274478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:374.274478 # Seafloor depth:-414.274478 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 164 # Segment length 52.790935 meters # Minimum depth: 397.678261 meters looking forward 0.000000 meters along route # Maximum depth: 397.678261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.678261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826634; longitude = -121.984183; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 347.065221; finalDepth = 357.678261; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:357.678261 # Seafloor depth:-397.678261 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 164 # Segment length 52.790935 meters # Minimum depth: 387.065221 meters looking forward 0.000000 meters along route # Maximum depth: 387.065221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.065221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826666; longitude = -121.984052; captureRadius = 10; duration = 52; initialDepth = 318.648541; finalDepth = 347.065221; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:347.065221 # Seafloor depth:-387.065221 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 164 # Segment length 52.790935 meters # Minimum depth: 358.648541 meters looking forward 0.000000 meters along route # Maximum depth: 358.648541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.648541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826805; longitude = -121.983492; captureRadius = 10; duration = 52; initialDepth = 294.411609; finalDepth = 318.648541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:318.648541 # Seafloor depth:-358.648541 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 164 # Segment length 52.790935 meters # Minimum depth: 334.411609 meters looking forward 0.000000 meters along route # Maximum depth: 334.411609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.411609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826944; longitude = -121.982931; captureRadius = 10; duration = 52; initialDepth = 276.114957; finalDepth = 294.411609; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:294.411609 # Seafloor depth:-334.411609 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 164 # Segment length 52.790935 meters # Minimum depth: 316.114957 meters looking forward 0.000000 meters along route # Maximum depth: 316.114957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.114957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827082; longitude = -121.982371; captureRadius = 10; duration = 52; initialDepth = 269.073842; finalDepth = 276.114957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:276.114957 # Seafloor depth:-316.114957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 164 # Segment length 52.790935 meters # Minimum depth: 309.073842 meters looking forward 0.000000 meters along route # Maximum depth: 309.073842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.073842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827221; longitude = -121.981810; captureRadius = 10; duration = 52; initialDepth = 269.981956; finalDepth = 269.073842; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:269.073842 # Seafloor depth:-309.073842 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 163 # Segment length 52.790935 meters # Minimum depth: 309.981956 meters looking forward 0.000000 meters along route # Maximum depth: 309.981956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.981956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827355; longitude = -121.981268; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 273.496928; finalDepth = 269.981956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:269.981956 # Seafloor depth:-309.981956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 163 # Segment length 52.790935 meters # Minimum depth: 313.496928 meters looking forward 0.000000 meters along route # Maximum depth: 313.496928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 273.496928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827439; longitude = -121.980745; captureRadius = 10; duration = 52; initialDepth = 282.552015; finalDepth = 273.496928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:273.496928 # Seafloor depth:-313.496928 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 163 # Segment length 52.790935 meters # Minimum depth: 322.552015 meters looking forward 0.000000 meters along route # Maximum depth: 322.552015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 282.552015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827529; longitude = -121.980185; captureRadius = 10; duration = 52; initialDepth = 295.148341; finalDepth = 282.552015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:282.552015 # Seafloor depth:-322.552015 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 163 # Segment length 52.790935 meters # Minimum depth: 335.148341 meters looking forward 0.000000 meters along route # Maximum depth: 335.148341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.148341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827620; longitude = -121.979624; captureRadius = 10; duration = 52; initialDepth = 307.893904; finalDepth = 295.148341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:295.148341 # Seafloor depth:-335.148341 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 163 # Segment length 52.790935 meters # Minimum depth: 347.893904 meters looking forward 0.000000 meters along route # Maximum depth: 347.893904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 307.893904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827710; longitude = -121.979064; captureRadius = 10; duration = 52; initialDepth = 327.250938; finalDepth = 307.893904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:307.893904 # Seafloor depth:-347.893904 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 162 # Segment length 52.790935 meters # Minimum depth: 367.250938 meters looking forward 0.000000 meters along route # Maximum depth: 367.250938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.250938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827806; longitude = -121.978466; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 345.109686; finalDepth = 327.250938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:327.250938 # Seafloor depth:-367.250938 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 162 # Segment length 52.790935 meters # Minimum depth: 385.109686 meters looking forward 0.000000 meters along route # Maximum depth: 385.109686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.109686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827977; longitude = -121.977999; captureRadius = 10; duration = 52; initialDepth = 361.584043; finalDepth = 345.109686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:345.109686 # Seafloor depth:-385.109686 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 162 # Segment length 52.790935 meters # Minimum depth: 401.584043 meters looking forward 0.000000 meters along route # Maximum depth: 401.584043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.584043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828181; longitude = -121.977439; captureRadius = 10; duration = 52; initialDepth = 368.269332; finalDepth = 361.584043; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:361.584043 # Seafloor depth:-401.584043 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 162 # Segment length 52.790935 meters # Minimum depth: 408.269332 meters looking forward 0.000000 meters along route # Maximum depth: 408.269332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.269332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828386; longitude = -121.976878; captureRadius = 10; duration = 52; initialDepth = 371.600439; finalDepth = 368.269332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:368.269332 # Seafloor depth:-408.269332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 162 # Segment length 52.790935 meters # Minimum depth: 411.600439 meters looking forward 0.000000 meters along route # Maximum depth: 411.600439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.600439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828591; longitude = -121.976318; captureRadius = 10; duration = 52; initialDepth = 372.055740; finalDepth = 371.600439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:371.600439 # Seafloor depth:-411.600439 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 161 # Segment length 52.790935 meters # Minimum depth: 412.055740 meters looking forward 0.000000 meters along route # Maximum depth: 412.055740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.055740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828782; longitude = -121.975795; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 373.085331; finalDepth = 372.055740; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.05574 # Seafloor depth:-412.055740 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 52.790935 meters # Minimum depth: 413.085331 meters looking forward 0.000000 meters along route # Maximum depth: 413.085331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.085331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828407; longitude = -121.976002; captureRadius = 10; duration = 52; initialDepth = 374.978096; finalDepth = 373.085331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:373.085331 # Seafloor depth:-413.085331 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 160 # Segment length 52.790935 meters # Minimum depth: 414.978096 meters looking forward 0.000000 meters along route # Maximum depth: 414.978096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.978096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827971; longitude = -121.976243; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 373.971088; finalDepth = 374.978096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:374.978096 # Seafloor depth:-414.978096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 160 # Segment length 52.790935 meters # Minimum depth: 413.971088 meters looking forward 0.000000 meters along route # Maximum depth: 413.971088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.971088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828046; longitude = -121.976507; captureRadius = 10; duration = 52; initialDepth = 368.247538; finalDepth = 373.971088; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:373.971088 # Seafloor depth:-413.971088 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 160 # Segment length 52.790935 meters # Minimum depth: 408.247538 meters looking forward 0.000000 meters along route # Maximum depth: 408.247538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.247538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828199; longitude = -121.977046; captureRadius = 10; duration = 52; initialDepth = 356.308641; finalDepth = 368.247538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:368.247538 # Seafloor depth:-408.247538 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 160 # Segment length 52.790935 meters # Minimum depth: 396.308641 meters looking forward 0.000000 meters along route # Maximum depth: 396.308641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.308641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828361; longitude = -121.977619; captureRadius = 10; duration = 52; initialDepth = 348.842506; finalDepth = 356.308641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:356.308641 # Seafloor depth:-396.308641 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 159 # Segment length 52.790935 meters # Minimum depth: 388.842506 meters looking forward 0.000000 meters along route # Maximum depth: 388.842506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.842506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828512; longitude = -121.978149; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 347.123265; finalDepth = 348.842506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:348.842506 # Seafloor depth:-388.842506 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 159 # Segment length 52.790935 meters # Minimum depth: 387.123265 meters looking forward 0.000000 meters along route # Maximum depth: 387.123265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.123265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828513; longitude = -121.978335; captureRadius = 10; duration = 52; initialDepth = 332.311802; finalDepth = 347.123265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:347.123265 # Seafloor depth:-387.123265 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 159 # Segment length 52.790935 meters # Minimum depth: 372.311802 meters looking forward 0.000000 meters along route # Maximum depth: 372.311802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.311802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828516; longitude = -121.978952; captureRadius = 10; duration = 52; initialDepth = 318.646048; finalDepth = 332.311802; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:332.311802 # Seafloor depth:-372.311802 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 159 # Segment length 52.790935 meters # Minimum depth: 358.646048 meters looking forward 0.000000 meters along route # Maximum depth: 358.646048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.646048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828519; longitude = -121.979568; captureRadius = 10; duration = 52; initialDepth = 307.626504; finalDepth = 318.646048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:318.646048 # Seafloor depth:-358.646048 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 159 # Segment length 52.790935 meters # Minimum depth: 347.626504 meters looking forward 0.000000 meters along route # Maximum depth: 347.626504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 307.626504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828521; longitude = -121.980185; captureRadius = 10; duration = 52; initialDepth = 295.443662; finalDepth = 307.626504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:307.626504 # Seafloor depth:-347.626504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 159 # Segment length 52.790935 meters # Minimum depth: 335.443662 meters looking forward 0.000000 meters along route # Maximum depth: 335.443662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.443662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828524; longitude = -121.980801; captureRadius = 10; duration = 52; initialDepth = 280.277504; finalDepth = 295.443662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:295.443662 # Seafloor depth:-335.443662 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 158 # Segment length 52.790935 meters # Minimum depth: 320.277504 meters looking forward 0.000000 meters along route # Maximum depth: 320.277504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.277504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828527; longitude = -121.981381; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 279.732637; finalDepth = 280.277504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:280.277504 # Seafloor depth:-320.277504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 158 # Segment length 52.790935 meters # Minimum depth: 319.732637 meters looking forward 0.000000 meters along route # Maximum depth: 319.732637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 279.732637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828413; longitude = -121.981642; captureRadius = 10; duration = 52; initialDepth = 289.285354; finalDepth = 279.732637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:279.732637 # Seafloor depth:-319.732637 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 158 # Segment length 52.790935 meters # Minimum depth: 329.285354 meters looking forward 0.000000 meters along route # Maximum depth: 329.285354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.285354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828194; longitude = -121.982146; captureRadius = 10; duration = 52; initialDepth = 298.723813; finalDepth = 289.285354; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:289.285354 # Seafloor depth:-329.285354 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 158 # Segment length 52.790935 meters # Minimum depth: 338.723813 meters looking forward 0.000000 meters along route # Maximum depth: 338.723813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.723813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827975; longitude = -121.982651; captureRadius = 10; duration = 52; initialDepth = 311.973573; finalDepth = 298.723813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:298.723813 # Seafloor depth:-338.723813 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 158 # Segment length 52.790935 meters # Minimum depth: 351.973573 meters looking forward 0.000000 meters along route # Maximum depth: 351.973573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.973573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827756; longitude = -121.983155; captureRadius = 10; duration = 52; initialDepth = 332.587837; finalDepth = 311.973573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:311.973573 # Seafloor depth:-351.973573 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 157 # Segment length 52.790935 meters # Minimum depth: 372.587837 meters looking forward 0.000000 meters along route # Maximum depth: 372.587837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.587837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827520; longitude = -121.983697; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 349.505480; finalDepth = 332.587837; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:332.587837 # Seafloor depth:-372.587837 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 52.790935 meters # Minimum depth: 389.505480 meters looking forward 0.000000 meters along route # Maximum depth: 389.505480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.505480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827218; longitude = -121.984108; captureRadius = 10; duration = 52; initialDepth = 370.808449; finalDepth = 349.505480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:349.50548 # Seafloor depth:-389.505480 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 52.790935 meters # Minimum depth: 410.808449 meters looking forward 0.000000 meters along route # Maximum depth: 410.808449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.808449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826889; longitude = -121.984556; captureRadius = 10; duration = 52; initialDepth = 381.466118; finalDepth = 370.808449; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:370.808449 # Seafloor depth:-410.808449 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 156 # Segment length 52.790935 meters # Minimum depth: 421.466118 meters looking forward 0.000000 meters along route # Maximum depth: 421.466118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.466118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826574; longitude = -121.984986; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 386.450923; finalDepth = 381.466118; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.466118 # Seafloor depth:-421.466118 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 52.790935 meters # Minimum depth: 426.450923 meters looking forward 0.000000 meters along route # Maximum depth: 426.450923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.450923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826424; longitude = -121.985195; captureRadius = 10; duration = 52; initialDepth = 396.538263; finalDepth = 386.450923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:386.450923 # Seafloor depth:-426.450923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 52.790935 meters # Minimum depth: 436.538263 meters looking forward 0.000000 meters along route # Maximum depth: 436.538263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.538263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826108; longitude = -121.985635; captureRadius = 10; duration = 52; initialDepth = 401.059127; finalDepth = 396.538263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.538263 # Seafloor depth:-436.538263 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 52.790935 meters # Minimum depth: 441.059127 meters looking forward 0.000000 meters along route # Maximum depth: 441.059127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.059127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825793; longitude = -121.986075; captureRadius = 10; duration = 52; initialDepth = 407.880127; finalDepth = 401.059127; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:401.059127 # Seafloor depth:-441.059127 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 155 # Segment length 52.790935 meters # Minimum depth: 447.880127 meters looking forward 0.000000 meters along route # Maximum depth: 447.880127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.880127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825462; longitude = -121.986537; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 401.481267; finalDepth = 407.880127; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:407.880127 # Seafloor depth:-447.880127 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 155 # Segment length 52.790935 meters # Minimum depth: 441.481267 meters looking forward 0.000000 meters along route # Maximum depth: 441.481267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.481267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825703; longitude = -121.986763; captureRadius = 10; duration = 52; initialDepth = 393.663124; finalDepth = 401.481267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:401.481267 # Seafloor depth:-441.481267 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 154 # Segment length 52.790935 meters # Minimum depth: 433.663124 meters looking forward 0.000000 meters along route # Maximum depth: 433.663124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.663124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826078; longitude = -121.987116; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 391.007628; finalDepth = 393.663124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.663124 # Seafloor depth:-433.663124 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 52.790935 meters # Minimum depth: 431.007628 meters looking forward 0.000000 meters along route # Maximum depth: 431.007628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.007628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826163; longitude = -121.987022; captureRadius = 10; duration = 52; initialDepth = 383.692550; finalDepth = 391.007628; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:391.007628 # Seafloor depth:-431.007628 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 52.790935 meters # Minimum depth: 423.692550 meters looking forward 0.000000 meters along route # Maximum depth: 423.692550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.692550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826522; longitude = -121.986630; captureRadius = 10; duration = 52; initialDepth = 372.228016; finalDepth = 383.692550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:383.69255 # Seafloor depth:-423.692550 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 52.790935 meters # Minimum depth: 412.228016 meters looking forward 0.000000 meters along route # Maximum depth: 412.228016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.228016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826880; longitude = -121.986238; captureRadius = 10; duration = 52; initialDepth = 368.715077; finalDepth = 372.228016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.228016 # Seafloor depth:-412.228016 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 52.790935 meters # Minimum depth: 408.715077 meters looking forward 0.000000 meters along route # Maximum depth: 408.715077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.715077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827238; longitude = -121.985845; captureRadius = 10; duration = 52; initialDepth = 362.112683; finalDepth = 368.715077; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:368.715077 # Seafloor depth:-408.715077 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 52.790935 meters # Minimum depth: 402.112683 meters looking forward 0.000000 meters along route # Maximum depth: 402.112683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.112683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827596; longitude = -121.985453; captureRadius = 10; duration = 52; initialDepth = 342.170372; finalDepth = 362.112683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:362.112683 # Seafloor depth:-402.112683 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 153 # Segment length 52.790935 meters # Minimum depth: 382.170372 meters looking forward 0.000000 meters along route # Maximum depth: 382.170372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.170372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827971; longitude = -121.985042; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 324.324585; finalDepth = 342.170372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:342.170372 # Seafloor depth:-382.170372 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 52.790935 meters # Minimum depth: 364.324585 meters looking forward 0.000000 meters along route # Maximum depth: 364.324585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.324585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828271; longitude = -121.984602; captureRadius = 10; duration = 52; initialDepth = 312.768614; finalDepth = 324.324585; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:324.324585 # Seafloor depth:-364.324585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 52.790935 meters # Minimum depth: 352.768614 meters looking forward 0.000000 meters along route # Maximum depth: 352.768614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 312.768614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828571; longitude = -121.984164; captureRadius = 10; duration = 52; initialDepth = 301.620443; finalDepth = 312.768614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:312.768614 # Seafloor depth:-352.768614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 52.790935 meters # Minimum depth: 341.620443 meters looking forward 0.000000 meters along route # Maximum depth: 341.620443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.620443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828877; longitude = -121.983716; captureRadius = 10; duration = 52; initialDepth = 288.263067; finalDepth = 301.620443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:301.620443 # Seafloor depth:-341.620443 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 52.790935 meters # Minimum depth: 328.263067 meters looking forward 0.000000 meters along route # Maximum depth: 328.263067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.263067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829184; longitude = -121.983267; captureRadius = 10; duration = 52; initialDepth = 278.188744; finalDepth = 288.263067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:288.263067 # Seafloor depth:-328.263067 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 152 # Segment length 52.790935 meters # Minimum depth: 318.188744 meters looking forward 0.000000 meters along route # Maximum depth: 318.188744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.188744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829503; longitude = -121.982800; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 276.120708; finalDepth = 278.188744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:278.188744 # Seafloor depth:-318.188744 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 52.790935 meters # Minimum depth: 316.120708 meters looking forward 0.000000 meters along route # Maximum depth: 316.120708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.120708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829529; longitude = -121.982427; captureRadius = 10; duration = 52; initialDepth = 281.944202; finalDepth = 276.120708; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:276.120708 # Seafloor depth:-316.120708 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 52.790935 meters # Minimum depth: 321.944202 meters looking forward 0.000000 meters along route # Maximum depth: 321.944202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.944202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829567; longitude = -121.981866; captureRadius = 10; duration = 52; initialDepth = 290.589762; finalDepth = 281.944202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:281.944202 # Seafloor depth:-321.944202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 52.790935 meters # Minimum depth: 330.589762 meters looking forward 0.000000 meters along route # Maximum depth: 330.589762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.589762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829605; longitude = -121.981306; captureRadius = 10; duration = 52; initialDepth = 299.808102; finalDepth = 290.589762; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:290.589762 # Seafloor depth:-330.589762 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 52.790935 meters # Minimum depth: 339.808102 meters looking forward 0.000000 meters along route # Maximum depth: 339.808102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.808102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829643; longitude = -121.980745; captureRadius = 10; duration = 52; initialDepth = 300.121758; finalDepth = 299.808102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:299.808102 # Seafloor depth:-339.808102 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 151 # Segment length 52.790935 meters # Minimum depth: 340.121758 meters looking forward 0.000000 meters along route # Maximum depth: 340.121758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.121758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829683; longitude = -121.980166; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 303.287863; finalDepth = 300.121758; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:300.121758 # Seafloor depth:-340.121758 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 151 # Segment length 52.790935 meters # Minimum depth: 343.287863 meters looking forward 0.000000 meters along route # Maximum depth: 343.287863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 303.287863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829666; longitude = -121.979680; captureRadius = 10; duration = 52; initialDepth = 315.989104; finalDepth = 303.287863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:303.287863 # Seafloor depth:-343.287863 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 151 # Segment length 52.790935 meters # Minimum depth: 355.989104 meters looking forward 0.000000 meters along route # Maximum depth: 355.989104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.989104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829647; longitude = -121.979120; captureRadius = 10; duration = 52; initialDepth = 323.373069; finalDepth = 315.989104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:315.989104 # Seafloor depth:-355.989104 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 151 # Segment length 52.790935 meters # Minimum depth: 363.373069 meters looking forward 0.000000 meters along route # Maximum depth: 363.373069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.373069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829628; longitude = -121.978560; captureRadius = 10; duration = 52; initialDepth = 329.272301; finalDepth = 323.373069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:323.373069 # Seafloor depth:-363.373069 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 150 # Segment length 52.790935 meters # Minimum depth: 369.272301 meters looking forward 0.000000 meters along route # Maximum depth: 369.272301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.272301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829608; longitude = -121.977962; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 333.438266; finalDepth = 329.272301; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:329.272301 # Seafloor depth:-369.272301 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 52.790935 meters # Minimum depth: 373.438266 meters looking forward 0.000000 meters along route # Maximum depth: 373.438266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.438266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829557; longitude = -121.977607; captureRadius = 10; duration = 52; initialDepth = 344.004784; finalDepth = 333.438266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:333.438266 # Seafloor depth:-373.438266 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 52.790935 meters # Minimum depth: 384.004784 meters looking forward 0.000000 meters along route # Maximum depth: 384.004784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.004784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829477; longitude = -121.977046; captureRadius = 10; duration = 52; initialDepth = 352.449244; finalDepth = 344.004784; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:344.004784 # Seafloor depth:-384.004784 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 52.790935 meters # Minimum depth: 392.449244 meters looking forward 0.000000 meters along route # Maximum depth: 392.449244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.449244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829396; longitude = -121.976486; captureRadius = 10; duration = 52; initialDepth = 364.832446; finalDepth = 352.449244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:352.449244 # Seafloor depth:-392.449244 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 52.790935 meters # Minimum depth: 404.832446 meters looking forward 0.000000 meters along route # Maximum depth: 404.832446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.832446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829316; longitude = -121.975926; captureRadius = 10; duration = 52; initialDepth = 369.536446; finalDepth = 364.832446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:364.832446 # Seafloor depth:-404.832446 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 149 # Segment length 52.790935 meters # Minimum depth: 409.536446 meters looking forward 0.000000 meters along route # Maximum depth: 409.536446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.536446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829233; longitude = -121.975346; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 371.400680; finalDepth = 369.536446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:369.536446 # Seafloor depth:-409.536446 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 52.790935 meters # Minimum depth: 411.400680 meters looking forward 0.000000 meters along route # Maximum depth: 411.400680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.400680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828902; longitude = -121.975369; captureRadius = 10; duration = 52; initialDepth = 373.826625; finalDepth = 371.400680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:371.40068 # Seafloor depth:-411.400680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 52.790935 meters # Minimum depth: 413.826625 meters looking forward 0.000000 meters along route # Maximum depth: 413.826625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.826625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828452; longitude = -121.975401; captureRadius = 10; duration = 52; initialDepth = 375.296471; finalDepth = 373.826625; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:373.826625 # Seafloor depth:-413.826625 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 52.790935 meters # Minimum depth: 415.296471 meters looking forward 0.000000 meters along route # Maximum depth: 415.296471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.296471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828001; longitude = -121.975432; captureRadius = 10; duration = 52; initialDepth = 378.011111; finalDepth = 375.296471; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:375.296471 # Seafloor depth:-415.296471 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 52.790935 meters # Minimum depth: 418.011111 meters looking forward 0.000000 meters along route # Maximum depth: 418.011111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.011111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827550; longitude = -121.975464; captureRadius = 10; duration = 52; initialDepth = 377.919647; finalDepth = 378.011111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:378.011111 # Seafloor depth:-418.011111 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 148 # Segment length 52.790935 meters # Minimum depth: 417.919647 meters looking forward 0.000000 meters along route # Maximum depth: 417.919647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.919647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827085; longitude = -121.975496; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 381.185375; finalDepth = 377.919647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.919647 # Seafloor depth:-417.919647 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 52.790935 meters # Minimum depth: 421.185375 meters looking forward 0.000000 meters along route # Maximum depth: 421.185375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.185375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826874; longitude = -121.975944; captureRadius = 10; duration = 52; initialDepth = 383.280325; finalDepth = 381.185375; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.185375 # Seafloor depth:-421.185375 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 52.790935 meters # Minimum depth: 423.280325 meters looking forward 0.000000 meters along route # Maximum depth: 423.280325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.280325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826646; longitude = -121.976430; captureRadius = 10; duration = 52; initialDepth = 385.311597; finalDepth = 383.280325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:383.280325 # Seafloor depth:-423.280325 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 52.790935 meters # Minimum depth: 425.311597 meters looking forward 0.000000 meters along route # Maximum depth: 425.311597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.311597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826408; longitude = -121.976934; captureRadius = 10; duration = 52; initialDepth = 386.356641; finalDepth = 385.311597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.311597 # Seafloor depth:-425.311597 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 52.790935 meters # Minimum depth: 426.356641 meters looking forward 0.000000 meters along route # Maximum depth: 426.356641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.356641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826171; longitude = -121.977439; captureRadius = 10; duration = 52; initialDepth = 387.361641; finalDepth = 386.356641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:386.356641 # Seafloor depth:-426.356641 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 147 # Segment length 52.790935 meters # Minimum depth: 427.361641 meters looking forward 0.000000 meters along route # Maximum depth: 427.361641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.361641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825943; longitude = -121.977924; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 387.739003; finalDepth = 387.361641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:387.361641 # Seafloor depth:-427.361641 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 52.790935 meters # Minimum depth: 427.739003 meters looking forward 0.000000 meters along route # Maximum depth: 427.739003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.739003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825793; longitude = -121.977966; captureRadius = 10; duration = 52; initialDepth = 389.902457; finalDepth = 387.739003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:387.739003 # Seafloor depth:-427.739003 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 52.790935 meters # Minimum depth: 429.902457 meters looking forward 0.000000 meters along route # Maximum depth: 429.902457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.902457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825342; longitude = -121.978090; captureRadius = 10; duration = 52; initialDepth = 391.442783; finalDepth = 389.902457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.902457 # Seafloor depth:-429.902457 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 52.790935 meters # Minimum depth: 431.442783 meters looking forward 0.000000 meters along route # Maximum depth: 431.442783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.442783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824892; longitude = -121.978215; captureRadius = 10; duration = 52; initialDepth = 393.269930; finalDepth = 391.442783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:391.442783 # Seafloor depth:-431.442783 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 52.790935 meters # Minimum depth: 433.269930 meters looking forward 0.000000 meters along route # Maximum depth: 433.269930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.269930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824441; longitude = -121.978339; captureRadius = 10; duration = 52; initialDepth = 395.160254; finalDepth = 393.269930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.26993 # Seafloor depth:-433.269930 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 52.790935 meters # Minimum depth: 435.160254 meters looking forward 0.000000 meters along route # Maximum depth: 435.160254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.160254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823990; longitude = -121.978464; captureRadius = 10; duration = 52; initialDepth = 396.015549; finalDepth = 395.160254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.160254 # Seafloor depth:-435.160254 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 146 # Segment length 52.790935 meters # Minimum depth: 436.015549 meters looking forward 0.000000 meters along route # Maximum depth: 436.015549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.015549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823510; longitude = -121.978597; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 396.658257; finalDepth = 396.015549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.015549 # Seafloor depth:-436.015549 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 52.790935 meters # Minimum depth: 436.658257 meters looking forward 0.000000 meters along route # Maximum depth: 436.658257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.658257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823516; longitude = -121.978728; captureRadius = 10; duration = 52; initialDepth = 399.987767; finalDepth = 396.658257; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.658257 # Seafloor depth:-436.658257 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 52.790935 meters # Minimum depth: 439.987767 meters looking forward 0.000000 meters along route # Maximum depth: 439.987767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.987767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823540; longitude = -121.979288; captureRadius = 10; duration = 52; initialDepth = 404.200833; finalDepth = 399.987767; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.987767 # Seafloor depth:-439.987767 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 52.790935 meters # Minimum depth: 444.200833 meters looking forward 0.000000 meters along route # Maximum depth: 444.200833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.200833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823565; longitude = -121.979849; captureRadius = 10; duration = 52; initialDepth = 405.939330; finalDepth = 404.200833; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:404.200833 # Seafloor depth:-444.200833 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 52.790935 meters # Minimum depth: 445.939330 meters looking forward 0.000000 meters along route # Maximum depth: 445.939330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.939330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823590; longitude = -121.980409; captureRadius = 10; duration = 52; initialDepth = 406.121758; finalDepth = 405.939330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.93933 # Seafloor depth:-445.939330 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 145 # Segment length 52.790935 meters # Minimum depth: 446.121758 meters looking forward 0.000000 meters along route # Maximum depth: 446.121758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.121758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823615; longitude = -121.980988; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 406.479453; finalDepth = 406.121758; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:406.121758 # Seafloor depth:-446.121758 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 52.790935 meters # Minimum depth: 446.479453 meters looking forward 0.000000 meters along route # Maximum depth: 446.479453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.479453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823578; longitude = -121.981250; captureRadius = 10; duration = 52; initialDepth = 409.889647; finalDepth = 406.479453; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:406.479453 # Seafloor depth:-446.479453 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 52.790935 meters # Minimum depth: 449.889647 meters looking forward 0.000000 meters along route # Maximum depth: 449.889647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.889647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823497; longitude = -121.981810; captureRadius = 10; duration = 52; initialDepth = 411.427692; finalDepth = 409.889647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:409.889647 # Seafloor depth:-449.889647 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 52.790935 meters # Minimum depth: 451.427692 meters looking forward 0.000000 meters along route # Maximum depth: 451.427692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.427692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823417; longitude = -121.982371; captureRadius = 10; duration = 52; initialDepth = 412.766377; finalDepth = 411.427692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:411.427692 # Seafloor depth:-451.427692 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 52.790935 meters # Minimum depth: 452.766377 meters looking forward 0.000000 meters along route # Maximum depth: 452.766377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.766377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823337; longitude = -121.982931; captureRadius = 10; duration = 52; initialDepth = 419.328766; finalDepth = 412.766377; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:412.766377 # Seafloor depth:-452.766377 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 144 # Segment length 52.790935 meters # Minimum depth: 459.328766 meters looking forward 0.000000 meters along route # Maximum depth: 459.328766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.328766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823254; longitude = -121.983510; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 420.730309; finalDepth = 419.328766; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.328766 # Seafloor depth:-459.328766 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 52.790935 meters # Minimum depth: 460.730309 meters looking forward 0.000000 meters along route # Maximum depth: 460.730309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.730309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823246; longitude = -121.983884; captureRadius = 10; duration = 52; initialDepth = 422.563773; finalDepth = 420.730309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:420.730309 # Seafloor depth:-460.730309 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 52.790935 meters # Minimum depth: 462.563773 meters looking forward 0.000000 meters along route # Maximum depth: 462.563773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.563773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823233; longitude = -121.984444; captureRadius = 10; duration = 52; initialDepth = 427.718933; finalDepth = 422.563773; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:422.563773 # Seafloor depth:-462.563773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 52.790935 meters # Minimum depth: 467.718933 meters looking forward 0.000000 meters along route # Maximum depth: 467.718933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.718933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823220; longitude = -121.985005; captureRadius = 10; duration = 52; initialDepth = 430.353354; finalDepth = 427.718933; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:427.718933 # Seafloor depth:-467.718933 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 52.790935 meters # Minimum depth: 470.353354 meters looking forward 0.000000 meters along route # Maximum depth: 470.353354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.353354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823208; longitude = -121.985565; captureRadius = 10; duration = 52; initialDepth = 431.909836; finalDepth = 430.353354; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:430.353354 # Seafloor depth:-470.353354 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 143 # Segment length 52.790935 meters # Minimum depth: 471.909836 meters looking forward 0.000000 meters along route # Maximum depth: 471.909836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.909836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823194; longitude = -121.986163; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 432.066733; finalDepth = 431.909836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.909836 # Seafloor depth:-471.909836 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 52.790935 meters # Minimum depth: 472.066733 meters looking forward 0.000000 meters along route # Maximum depth: 472.066733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.066733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823187; longitude = -121.986182; captureRadius = 10; duration = 52; initialDepth = 434.491783; finalDepth = 432.066733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:432.066733 # Seafloor depth:-472.066733 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 52.790935 meters # Minimum depth: 474.491783 meters looking forward 0.000000 meters along route # Maximum depth: 474.491783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.491783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822987; longitude = -121.986686; captureRadius = 10; duration = 52; initialDepth = 437.143574; finalDepth = 434.491783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.491783 # Seafloor depth:-474.491783 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 52.790935 meters # Minimum depth: 477.143574 meters looking forward 0.000000 meters along route # Maximum depth: 477.143574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.143574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822787; longitude = -121.987190; captureRadius = 10; duration = 52; initialDepth = 438.714203; finalDepth = 437.143574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.143574 # Seafloor depth:-477.143574 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 142 # Segment length 52.790935 meters # Minimum depth: 478.714203 meters looking forward 0.000000 meters along route # Maximum depth: 478.714203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.714203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822579; longitude = -121.987714; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 442.495177; finalDepth = 438.714203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:438.714203 # Seafloor depth:-478.714203 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 52.790935 meters # Minimum depth: 482.495177 meters looking forward 0.000000 meters along route # Maximum depth: 482.495177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.495177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822273; longitude = -121.987919; captureRadius = 10; duration = 52; initialDepth = 445.619498; finalDepth = 442.495177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.495177 # Seafloor depth:-482.495177 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 52.790935 meters # Minimum depth: 485.619498 meters looking forward 0.000000 meters along route # Maximum depth: 485.619498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.619498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821873; longitude = -121.988187; captureRadius = 10; duration = 52; initialDepth = 448.752587; finalDepth = 445.619498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.619498 # Seafloor depth:-485.619498 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 52.790935 meters # Minimum depth: 488.752587 meters looking forward 0.000000 meters along route # Maximum depth: 488.752587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.752587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821467; longitude = -121.988458; captureRadius = 10; duration = 52; initialDepth = 450.509388; finalDepth = 448.752587; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.752587 # Seafloor depth:-488.752587 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 52.790935 meters # Minimum depth: 490.509388 meters looking forward 0.000000 meters along route # Maximum depth: 490.509388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.509388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821061; longitude = -121.988730; captureRadius = 10; duration = 52; initialDepth = 454.515034; finalDepth = 450.509388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:450.509388 # Seafloor depth:-490.509388 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 52.790935 meters # Minimum depth: 494.515034 meters looking forward 0.000000 meters along route # Maximum depth: 494.515034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.515034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820656; longitude = -121.989001; captureRadius = 10; duration = 52; initialDepth = 458.760132; finalDepth = 454.515034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.515034 # Seafloor depth:-494.515034 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 141 # Segment length 52.790935 meters # Minimum depth: 498.760132 meters looking forward 0.000000 meters along route # Maximum depth: 498.760132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.760132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820235; longitude = -121.989283; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 459.569125; finalDepth = 458.760132; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.760132 # Seafloor depth:-498.760132 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 52.790935 meters # Minimum depth: 499.569125 meters looking forward 0.000000 meters along route # Maximum depth: 499.569125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.569125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820168; longitude = -121.989320; captureRadius = 10; duration = 52; initialDepth = 463.866474; finalDepth = 459.569125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:459.569125 # Seafloor depth:-499.569125 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 52.790935 meters # Minimum depth: 503.866474 meters looking forward 0.000000 meters along route # Maximum depth: 503.866474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.866474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819755; longitude = -121.989551; captureRadius = 10; duration = 52; initialDepth = 468.948112; finalDepth = 463.866474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.866474 # Seafloor depth:-503.866474 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 52.790935 meters # Minimum depth: 508.948112 meters looking forward 0.000000 meters along route # Maximum depth: 508.948112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.948112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819304; longitude = -121.989803; captureRadius = 10; duration = 52; initialDepth = 475.173021; finalDepth = 468.948112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.948112 # Seafloor depth:-508.948112 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 52.790935 meters # Minimum depth: 515.173021 meters looking forward 0.000000 meters along route # Maximum depth: 515.173021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.173021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818864; longitude = -121.990049; captureRadius = 10; duration = 52; initialDepth = 478.684605; finalDepth = 475.173021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:475.173021 # Seafloor depth:-515.173021 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 52.790935 meters # Minimum depth: 518.684605 meters looking forward 0.000000 meters along route # Maximum depth: 518.684605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.684605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818448; longitude = -121.990281; captureRadius = 10; duration = 52; initialDepth = 482.992783; finalDepth = 478.684605; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.684605 # Seafloor depth:-518.684605 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 140 # Segment length 52.790935 meters # Minimum depth: 522.992783 meters looking forward 0.000000 meters along route # Maximum depth: 522.992783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.992783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818027; longitude = -121.990516; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 486.917558; finalDepth = 482.992783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.992783 # Seafloor depth:-522.992783 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 52.790935 meters # Minimum depth: 526.917558 meters looking forward 0.000000 meters along route # Maximum depth: 526.917558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.917558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817682; longitude = -121.990617; captureRadius = 10; duration = 52; initialDepth = 491.141673; finalDepth = 486.917558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:486.917558 # Seafloor depth:-526.917558 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 52.790935 meters # Minimum depth: 531.141673 meters looking forward 0.000000 meters along route # Maximum depth: 531.141673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.141673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817231; longitude = -121.990748; captureRadius = 10; duration = 52; initialDepth = 495.024561; finalDepth = 491.141673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.141673 # Seafloor depth:-531.141673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 52.790935 meters # Minimum depth: 535.024561 meters looking forward 0.000000 meters along route # Maximum depth: 535.024561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.024561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816781; longitude = -121.990879; captureRadius = 10; duration = 52; initialDepth = 498.053282; finalDepth = 495.024561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.024561 # Seafloor depth:-535.024561 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 52.790935 meters # Minimum depth: 538.053282 meters looking forward 0.000000 meters along route # Maximum depth: 538.053282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.053282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816330; longitude = -121.991011; captureRadius = 10; duration = 52; initialDepth = 502.887650; finalDepth = 498.053282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.053282 # Seafloor depth:-538.053282 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 139 # Segment length 52.790935 meters # Minimum depth: 542.887650 meters looking forward 0.000000 meters along route # Maximum depth: 542.887650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.887650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815849; longitude = -121.991151; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 503.161878; finalDepth = 502.887650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.88765 # Seafloor depth:-542.887650 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 52.790935 meters # Minimum depth: 543.161878 meters looking forward 0.000000 meters along route # Maximum depth: 543.161878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.161878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815834; longitude = -121.991159; captureRadius = 10; duration = 52; initialDepth = 509.579184; finalDepth = 503.161878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.161878 # Seafloor depth:-543.161878 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 52.790935 meters # Minimum depth: 549.579184 meters looking forward 0.000000 meters along route # Maximum depth: 549.579184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.579184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815414; longitude = -121.991394; captureRadius = 10; duration = 52; initialDepth = 514.225498; finalDepth = 509.579184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.579184 # Seafloor depth:-549.579184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 52.790935 meters # Minimum depth: 554.225498 meters looking forward 0.000000 meters along route # Maximum depth: 554.225498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.225498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814978; longitude = -121.991637; captureRadius = 10; duration = 52; initialDepth = 517.902241; finalDepth = 514.225498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.225498 # Seafloor depth:-554.225498 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 52.790935 meters # Minimum depth: 557.902241 meters looking forward 0.000000 meters along route # Maximum depth: 557.902241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.902241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814528; longitude = -121.991888; captureRadius = 10; duration = 52; initialDepth = 522.033771; finalDepth = 517.902241; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.902241 # Seafloor depth:-557.902241 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 52.790935 meters # Minimum depth: 562.033771 meters looking forward 0.000000 meters along route # Maximum depth: 562.033771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.033771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814107; longitude = -121.992122; captureRadius = 10; duration = 52; initialDepth = 525.025746; finalDepth = 522.033771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.033771 # Seafloor depth:-562.033771 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 52.790935 meters # Minimum depth: 565.025746 meters looking forward 0.000000 meters along route # Maximum depth: 565.025746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.025746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813671; longitude = -121.992365; captureRadius = 10; duration = 52; initialDepth = 528.160084; finalDepth = 525.025746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.025746 # Seafloor depth:-565.025746 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 52.790935 meters # Minimum depth: 568.160084 meters looking forward 0.000000 meters along route # Maximum depth: 568.160084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.160084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813221; longitude = -121.992617; captureRadius = 10; duration = 52; initialDepth = 530.634461; finalDepth = 528.160084; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.160084 # Seafloor depth:-568.160084 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 52.790935 meters # Minimum depth: 570.634461 meters looking forward 0.000000 meters along route # Maximum depth: 570.634461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.634461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812801; longitude = -121.992851; captureRadius = 10; duration = 52; initialDepth = 531.964851; finalDepth = 530.634461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.634461 # Seafloor depth:-570.634461 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 52.790935 meters # Minimum depth: 571.964851 meters looking forward 0.000000 meters along route # Maximum depth: 571.964851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.964851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812365; longitude = -121.993094; captureRadius = 10; duration = 52; initialDepth = 532.394058; finalDepth = 531.964851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.964851 # Seafloor depth:-571.964851 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 138 # Segment length 52.790935 meters # Minimum depth: 572.394058 meters looking forward 0.000000 meters along route # Maximum depth: 572.394058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.394058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811929; longitude = -121.993337; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 534.385912; finalDepth = 532.394058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.394058 # Seafloor depth:-572.394058 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 52.790935 meters # Minimum depth: 574.385912 meters looking forward 0.000000 meters along route # Maximum depth: 574.385912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.385912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811553; longitude = -121.993353; captureRadius = 10; duration = 52; initialDepth = 536.712762; finalDepth = 534.385912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.385912 # Seafloor depth:-574.385912 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 52.790935 meters # Minimum depth: 576.712762 meters looking forward 0.000000 meters along route # Maximum depth: 576.712762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.712762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811103; longitude = -121.993372; captureRadius = 10; duration = 52; initialDepth = 540.409156; finalDepth = 536.712762; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.712762 # Seafloor depth:-576.712762 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 52.790935 meters # Minimum depth: 580.409156 meters looking forward 0.000000 meters along route # Maximum depth: 580.409156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.409156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810652; longitude = -121.993391; captureRadius = 10; duration = 52; initialDepth = 543.802144; finalDepth = 540.409156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.409156 # Seafloor depth:-580.409156 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 52.790935 meters # Minimum depth: 583.802144 meters looking forward 0.000000 meters along route # Maximum depth: 583.802144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.802144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810202; longitude = -121.993410; captureRadius = 10; duration = 52; initialDepth = 546.980865; finalDepth = 543.802144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.802144 # Seafloor depth:-583.802144 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 137 # Segment length 52.790935 meters # Minimum depth: 586.980865 meters looking forward 0.000000 meters along route # Maximum depth: 586.980865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.980865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809736; longitude = -121.993430; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 549.644031; finalDepth = 546.980865; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.980865 # Seafloor depth:-586.980865 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 52.790935 meters # Minimum depth: 589.644031 meters looking forward 0.000000 meters along route # Maximum depth: 589.644031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.644031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809436; longitude = -121.993299; captureRadius = 10; duration = 52; initialDepth = 553.980637; finalDepth = 549.644031; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.644031 # Seafloor depth:-589.644031 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 52.790935 meters # Minimum depth: 593.980637 meters looking forward 0.000000 meters along route # Maximum depth: 593.980637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.980637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808985; longitude = -121.993102; captureRadius = 10; duration = 52; initialDepth = 556.702288; finalDepth = 553.980637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.980637 # Seafloor depth:-593.980637 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 52.790935 meters # Minimum depth: 596.702288 meters looking forward 0.000000 meters along route # Maximum depth: 596.702288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.702288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808534; longitude = -121.992906; captureRadius = 10; duration = 52; initialDepth = 558.101838; finalDepth = 556.702288; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.702288 # Seafloor depth:-596.702288 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 52.790935 meters # Minimum depth: 598.101838 meters looking forward 0.000000 meters along route # Maximum depth: 598.101838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.101838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808084; longitude = -121.992709; captureRadius = 10; duration = 52; initialDepth = 559.631956; finalDepth = 558.101838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.101838 # Seafloor depth:-598.101838 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 52.790935 meters # Minimum depth: 599.631956 meters looking forward 0.000000 meters along route # Maximum depth: 599.631956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.631956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807633; longitude = -121.992512; captureRadius = 10; duration = 52; initialDepth = 560.391205; finalDepth = 559.631956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.631956 # Seafloor depth:-599.631956 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 136 # Segment length 52.790935 meters # Minimum depth: 600.391205 meters looking forward 0.000000 meters along route # Maximum depth: 600.391205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.391205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807167; longitude = -121.992309; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 561.511770; finalDepth = 560.391205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.391205 # Seafloor depth:-600.391205 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 52.790935 meters # Minimum depth: 601.511770 meters looking forward 0.000000 meters along route # Maximum depth: 601.511770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.511770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806957; longitude = -121.992350; captureRadius = 10; duration = 52; initialDepth = 564.703093; finalDepth = 561.511770; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.51177 # Seafloor depth:-601.511770 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 52.790935 meters # Minimum depth: 604.703093 meters looking forward 0.000000 meters along route # Maximum depth: 604.703093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.703093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806507; longitude = -121.992439; captureRadius = 10; duration = 52; initialDepth = 568.052079; finalDepth = 564.703093; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.703093 # Seafloor depth:-604.703093 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 52.790935 meters # Minimum depth: 608.052079 meters looking forward 0.000000 meters along route # Maximum depth: 608.052079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.052079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806056; longitude = -121.992527; captureRadius = 10; duration = 52; initialDepth = 570.925097; finalDepth = 568.052079; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.052079 # Seafloor depth:-608.052079 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 52.790935 meters # Minimum depth: 610.925097 meters looking forward 0.000000 meters along route # Maximum depth: 610.925097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.925097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805605; longitude = -121.992616; captureRadius = 10; duration = 52; initialDepth = 573.304930; finalDepth = 570.925097; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.925097 # Seafloor depth:-610.925097 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 52.790935 meters # Minimum depth: 613.304930 meters looking forward 0.000000 meters along route # Maximum depth: 613.304930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.304930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805155; longitude = -121.992704; captureRadius = 10; duration = 52; initialDepth = 576.485934; finalDepth = 573.304930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.30493 # Seafloor depth:-613.304930 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 52.790935 meters # Minimum depth: 616.485934 meters looking forward 0.000000 meters along route # Maximum depth: 616.485934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.485934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804704; longitude = -121.992793; captureRadius = 10; duration = 52; initialDepth = 578.707384; finalDepth = 576.485934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.485934 # Seafloor depth:-616.485934 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 52.790935 meters # Minimum depth: 618.707384 meters looking forward 0.000000 meters along route # Maximum depth: 618.707384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.707384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804253; longitude = -121.992882; captureRadius = 10; duration = 52; initialDepth = 581.891731; finalDepth = 578.707384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.707384 # Seafloor depth:-618.707384 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 52.790935 meters # Minimum depth: 621.891731 meters looking forward 0.000000 meters along route # Maximum depth: 621.891731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.891731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803803; longitude = -121.992970; captureRadius = 10; duration = 52; initialDepth = 584.142141; finalDepth = 581.891731; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.891731 # Seafloor depth:-621.891731 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 52.790935 meters # Minimum depth: 624.142141 meters looking forward 0.000000 meters along route # Maximum depth: 624.142141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.142141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803352; longitude = -121.993059; captureRadius = 10; duration = 52; initialDepth = 587.681976; finalDepth = 584.142141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.142141 # Seafloor depth:-624.142141 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 135 # Segment length 52.790935 meters # Minimum depth: 627.681976 meters looking forward 0.000000 meters along route # Maximum depth: 627.681976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.681976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802887; longitude = -121.993150; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 590.422144; finalDepth = 587.681976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.681976 # Seafloor depth:-627.681976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 52.790935 meters # Minimum depth: 630.422144 meters looking forward 0.000000 meters along route # Maximum depth: 630.422144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.422144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802629; longitude = -121.993411; captureRadius = 10; duration = 52; initialDepth = 594.815538; finalDepth = 590.422144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.422144 # Seafloor depth:-630.422144 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 52.790935 meters # Minimum depth: 634.815538 meters looking forward 0.000000 meters along route # Maximum depth: 634.815538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.815538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802271; longitude = -121.993775; captureRadius = 10; duration = 52; initialDepth = 597.685866; finalDepth = 594.815538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.815538 # Seafloor depth:-634.815538 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 52.790935 meters # Minimum depth: 637.685866 meters looking forward 0.000000 meters along route # Maximum depth: 637.685866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.685866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801910; longitude = -121.994140; captureRadius = 10; duration = 52; initialDepth = 601.335830; finalDepth = 597.685866; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.685866 # Seafloor depth:-637.685866 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 52.790935 meters # Minimum depth: 641.335830 meters looking forward 0.000000 meters along route # Maximum depth: 641.335830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.335830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801524; longitude = -121.994532; captureRadius = 10; duration = 52; initialDepth = 604.680878; finalDepth = 601.335830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.33583 # Seafloor depth:-641.335830 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 134 # Segment length 52.790935 meters # Minimum depth: 644.680878 meters looking forward 0.000000 meters along route # Maximum depth: 644.680878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.680878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801174; longitude = -121.994887; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 606.504345; finalDepth = 604.680878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.680878 # Seafloor depth:-644.680878 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 52.790935 meters # Minimum depth: 646.504345 meters looking forward 0.000000 meters along route # Maximum depth: 646.504345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.504345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800784; longitude = -121.995054; captureRadius = 10; duration = 52; initialDepth = 606.730864; finalDepth = 606.504345; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.504345 # Seafloor depth:-646.504345 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 52.790935 meters # Minimum depth: 646.730864 meters looking forward 0.000000 meters along route # Maximum depth: 646.730864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.730864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800333; longitude = -121.995246; captureRadius = 10; duration = 52; initialDepth = 613.230758; finalDepth = 606.730864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.730864 # Seafloor depth:-646.730864 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 52.790935 meters # Minimum depth: 653.230758 meters looking forward 0.000000 meters along route # Maximum depth: 653.230758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.230758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799905; longitude = -121.995429; captureRadius = 10; duration = 52; initialDepth = 624.942407; finalDepth = 613.230758; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.230758 # Seafloor depth:-653.230758 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 52.790935 meters # Minimum depth: 664.942407 meters looking forward 0.000000 meters along route # Maximum depth: 664.942407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.942407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799477; longitude = -121.995612; captureRadius = 10; duration = 52; initialDepth = 628.436231; finalDepth = 624.942407; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.942407 # Seafloor depth:-664.942407 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 52.790935 meters # Minimum depth: 668.436231 meters looking forward 0.000000 meters along route # Maximum depth: 668.436231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.436231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799026; longitude = -121.995804; captureRadius = 10; duration = 52; initialDepth = 632.144692; finalDepth = 628.436231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.436231 # Seafloor depth:-668.436231 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 52.790935 meters # Minimum depth: 672.144692 meters looking forward 0.000000 meters along route # Maximum depth: 672.144692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.144692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798592; longitude = -121.995989; captureRadius = 10; duration = 52; initialDepth = 638.246002; finalDepth = 632.144692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.144692 # Seafloor depth:-672.144692 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 133 # Segment length 52.790935 meters # Minimum depth: 678.246002 meters looking forward 0.000000 meters along route # Maximum depth: 678.246002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.246002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798155; longitude = -121.996176; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 639.840358; finalDepth = 638.246002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:638.246002 # Seafloor depth:-678.246002 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 52.790935 meters # Minimum depth: 679.840358 meters looking forward 0.000000 meters along route # Maximum depth: 679.840358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.840358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797990; longitude = -121.996194; captureRadius = 10; duration = 52; initialDepth = 646.192544; finalDepth = 639.840358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:639.840358 # Seafloor depth:-679.840358 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 52.790935 meters # Minimum depth: 686.192544 meters looking forward 0.000000 meters along route # Maximum depth: 686.192544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.192544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797539; longitude = -121.996244; captureRadius = 10; duration = 52; initialDepth = 651.164489; finalDepth = 646.192544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.192544 # Seafloor depth:-686.192544 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 52.790935 meters # Minimum depth: 691.164489 meters looking forward 0.000000 meters along route # Maximum depth: 691.164489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.164489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797089; longitude = -121.996293; captureRadius = 10; duration = 52; initialDepth = 656.837479; finalDepth = 651.164489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.164489 # Seafloor depth:-691.164489 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 132 # Segment length 52.790935 meters # Minimum depth: 696.837479 meters looking forward 0.000000 meters along route # Maximum depth: 696.837479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.837479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796623; longitude = -121.996344; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 657.214859; finalDepth = 656.837479; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.837479 # Seafloor depth:-696.837479 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 52.790935 meters # Minimum depth: 697.214859 meters looking forward 0.000000 meters along route # Maximum depth: 697.214859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.214859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796665; longitude = -121.995821; captureRadius = 10; duration = 52; initialDepth = 641.478058; finalDepth = 657.214859; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.214859 # Seafloor depth:-697.214859 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 131 # Segment length 52.790935 meters # Minimum depth: 681.478058 meters looking forward 0.000000 meters along route # Maximum depth: 681.478058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.478058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796713; longitude = -121.995224; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 633.709527; finalDepth = 641.478058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.478058 # Seafloor depth:-681.478058 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 52.790935 meters # Minimum depth: 673.709527 meters looking forward 0.000000 meters along route # Maximum depth: 673.709527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.709527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797035; longitude = -121.994925; captureRadius = 10; duration = 52; initialDepth = 630.931339; finalDepth = 633.709527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.709527 # Seafloor depth:-673.709527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 52.790935 meters # Minimum depth: 670.931339 meters looking forward 0.000000 meters along route # Maximum depth: 670.931339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.931339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797397; longitude = -121.994588; captureRadius = 10; duration = 52; initialDepth = 620.635735; finalDepth = 630.931339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.931339 # Seafloor depth:-670.931339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 52.790935 meters # Minimum depth: 660.635735 meters looking forward 0.000000 meters along route # Maximum depth: 660.635735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.635735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797765; longitude = -121.994246; captureRadius = 10; duration = 52; initialDepth = 614.597885; finalDepth = 620.635735; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.635735 # Seafloor depth:-660.635735 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 130 # Segment length 52.790935 meters # Minimum depth: 654.597885 meters looking forward 0.000000 meters along route # Maximum depth: 654.597885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.597885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798140; longitude = -121.993897; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 614.642338; finalDepth = 614.597885; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.597885 # Seafloor depth:-654.597885 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 52.790935 meters # Minimum depth: 654.642338 meters looking forward 0.000000 meters along route # Maximum depth: 654.642338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.642338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798170; longitude = -121.993882; captureRadius = 10; duration = 52; initialDepth = 611.318833; finalDepth = 614.642338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.642338 # Seafloor depth:-654.642338 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 52.790935 meters # Minimum depth: 651.318833 meters looking forward 0.000000 meters along route # Maximum depth: 651.318833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.318833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798621; longitude = -121.993658; captureRadius = 10; duration = 52; initialDepth = 603.013145; finalDepth = 611.318833; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.318833 # Seafloor depth:-651.318833 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 52.790935 meters # Minimum depth: 643.013145 meters looking forward 0.000000 meters along route # Maximum depth: 643.013145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.013145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799071; longitude = -121.993434; captureRadius = 10; duration = 52; initialDepth = 591.203674; finalDepth = 603.013145; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.013145 # Seafloor depth:-643.013145 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 129 # Segment length 52.790935 meters # Minimum depth: 631.203674 meters looking forward 0.000000 meters along route # Maximum depth: 631.203674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.203674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799492; longitude = -121.993225; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 588.556708; finalDepth = 591.203674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.203674 # Seafloor depth:-631.203674 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 52.790935 meters # Minimum depth: 628.556708 meters looking forward 0.000000 meters along route # Maximum depth: 628.556708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.556708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799792; longitude = -121.993164; captureRadius = 10; duration = 52; initialDepth = 588.947539; finalDepth = 588.556708; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.556708 # Seafloor depth:-628.556708 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 52.790935 meters # Minimum depth: 628.947539 meters looking forward 0.000000 meters along route # Maximum depth: 628.947539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.947539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800243; longitude = -121.993073; captureRadius = 10; duration = 52; initialDepth = 589.267763; finalDepth = 588.947539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.947539 # Seafloor depth:-628.947539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 52.790935 meters # Minimum depth: 629.267763 meters looking forward 0.000000 meters along route # Maximum depth: 629.267763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.267763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800694; longitude = -121.992982; captureRadius = 10; duration = 52; initialDepth = 587.944443; finalDepth = 589.267763; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.267763 # Seafloor depth:-629.267763 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 128 # Segment length 52.790935 meters # Minimum depth: 627.944443 meters looking forward 0.000000 meters along route # Maximum depth: 627.944443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.944443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801159; longitude = -121.992888; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 588.437561; finalDepth = 587.944443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.944443 # Seafloor depth:-627.944443 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 52.790935 meters # Minimum depth: 628.437561 meters looking forward 0.000000 meters along route # Maximum depth: 628.437561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.437561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801595; longitude = -121.992704; captureRadius = 10; duration = 52; initialDepth = 586.373723; finalDepth = 588.437561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.437561 # Seafloor depth:-628.437561 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 52.790935 meters # Minimum depth: 626.373723 meters looking forward 0.000000 meters along route # Maximum depth: 626.373723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.373723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802045; longitude = -121.992515; captureRadius = 10; duration = 52; initialDepth = 579.107539; finalDepth = 586.373723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.373723 # Seafloor depth:-626.373723 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 52.790935 meters # Minimum depth: 619.107539 meters looking forward 0.000000 meters along route # Maximum depth: 619.107539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.107539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802496; longitude = -121.992325; captureRadius = 10; duration = 52; initialDepth = 575.573410; finalDepth = 579.107539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.107539 # Seafloor depth:-619.107539 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 127 # Segment length 52.790935 meters # Minimum depth: 615.573410 meters looking forward 0.000000 meters along route # Maximum depth: 615.573410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.573410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802932; longitude = -121.992141; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 573.346491; finalDepth = 575.573410; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.57341 # Seafloor depth:-615.573410 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 52.790935 meters # Minimum depth: 613.346491 meters looking forward 0.000000 meters along route # Maximum depth: 613.346491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.346491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803172; longitude = -121.992065; captureRadius = 10; duration = 52; initialDepth = 570.490137; finalDepth = 573.346491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.346491 # Seafloor depth:-613.346491 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 52.790935 meters # Minimum depth: 610.490137 meters looking forward 0.000000 meters along route # Maximum depth: 610.490137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.490137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803623; longitude = -121.991921; captureRadius = 10; duration = 52; initialDepth = 567.910920; finalDepth = 570.490137; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.490137 # Seafloor depth:-610.490137 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 52.790935 meters # Minimum depth: 607.910920 meters looking forward 0.000000 meters along route # Maximum depth: 607.910920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.910920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804073; longitude = -121.991778; captureRadius = 10; duration = 52; initialDepth = 563.079746; finalDepth = 567.910920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.91092 # Seafloor depth:-607.910920 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 52.790935 meters # Minimum depth: 603.079746 meters looking forward 0.000000 meters along route # Maximum depth: 603.079746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.079746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804524; longitude = -121.991635; captureRadius = 10; duration = 52; initialDepth = 558.296570; finalDepth = 563.079746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.079746 # Seafloor depth:-603.079746 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 126 # Segment length 52.790935 meters # Minimum depth: 598.296570 meters looking forward 0.000000 meters along route # Maximum depth: 598.296570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.296570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804989; longitude = -121.991487; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 558.562029; finalDepth = 558.296570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.29657 # Seafloor depth:-598.296570 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 52.790935 meters # Minimum depth: 598.562029 meters looking forward 0.000000 meters along route # Maximum depth: 598.562029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.562029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805110; longitude = -121.991486; captureRadius = 10; duration = 52; initialDepth = 557.421315; finalDepth = 558.562029; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.562029 # Seafloor depth:-598.562029 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 52.790935 meters # Minimum depth: 597.421315 meters looking forward 0.000000 meters along route # Maximum depth: 597.421315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.421315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805605; longitude = -121.991480; captureRadius = 10; duration = 52; initialDepth = 555.906421; finalDepth = 557.421315; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.421315 # Seafloor depth:-597.421315 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 52.790935 meters # Minimum depth: 595.906421 meters looking forward 0.000000 meters along route # Maximum depth: 595.906421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.906421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806101; longitude = -121.991474; captureRadius = 10; duration = 52; initialDepth = 554.608414; finalDepth = 555.906421; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.906421 # Seafloor depth:-595.906421 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 125 # Segment length 52.790935 meters # Minimum depth: 594.608414 meters looking forward 0.000000 meters along route # Maximum depth: 594.608414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.608414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806582; longitude = -121.991469; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 555.428249; finalDepth = 554.608414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.608414 # Seafloor depth:-594.608414 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 52.790935 meters # Minimum depth: 595.428249 meters looking forward 0.000000 meters along route # Maximum depth: 595.428249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.428249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806732; longitude = -121.991530; captureRadius = 10; duration = 52; initialDepth = 556.352527; finalDepth = 555.428249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.428249 # Seafloor depth:-595.428249 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 52.790935 meters # Minimum depth: 596.352527 meters looking forward 0.000000 meters along route # Maximum depth: 596.352527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.352527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807182; longitude = -121.991712; captureRadius = 10; duration = 52; initialDepth = 555.675685; finalDepth = 556.352527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.352527 # Seafloor depth:-596.352527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 52.790935 meters # Minimum depth: 595.675685 meters looking forward 0.000000 meters along route # Maximum depth: 595.675685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.675685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807642; longitude = -121.991898; captureRadius = 10; duration = 52; initialDepth = 554.498663; finalDepth = 555.675685; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.675685 # Seafloor depth:-595.675685 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 52.790935 meters # Minimum depth: 594.498663 meters looking forward 0.000000 meters along route # Maximum depth: 594.498663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.498663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808084; longitude = -121.992077; captureRadius = 10; duration = 52; initialDepth = 554.620407; finalDepth = 554.498663; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.498663 # Seafloor depth:-594.498663 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 124 # Segment length 52.790935 meters # Minimum depth: 594.620407 meters looking forward 0.000000 meters along route # Maximum depth: 594.620407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.620407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808519; longitude = -121.992253; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 554.302707; finalDepth = 554.620407; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.620407 # Seafloor depth:-594.620407 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 52.790935 meters # Minimum depth: 594.302707 meters looking forward 0.000000 meters along route # Maximum depth: 594.302707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.302707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808940; longitude = -121.992416; captureRadius = 10; duration = 52; initialDepth = 551.042581; finalDepth = 554.302707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.302707 # Seafloor depth:-594.302707 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 52.790935 meters # Minimum depth: 591.042581 meters looking forward 0.000000 meters along route # Maximum depth: 591.042581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.042581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809390; longitude = -121.992590; captureRadius = 10; duration = 52; initialDepth = 548.627548; finalDepth = 551.042581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.042581 # Seafloor depth:-591.042581 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 123 # Segment length 52.790935 meters # Minimum depth: 588.627548 meters looking forward 0.000000 meters along route # Maximum depth: 588.627548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.627548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809826; longitude = -121.992758; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 546.888778; finalDepth = 548.627548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.627548 # Seafloor depth:-588.627548 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 52.790935 meters # Minimum depth: 586.888778 meters looking forward 0.000000 meters along route # Maximum depth: 586.888778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.888778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810067; longitude = -121.992459; captureRadius = 10; duration = 52; initialDepth = 543.831287; finalDepth = 546.888778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.888778 # Seafloor depth:-586.888778 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 52.790935 meters # Minimum depth: 583.831287 meters looking forward 0.000000 meters along route # Maximum depth: 583.831287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.831287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810427; longitude = -121.992010; captureRadius = 10; duration = 52; initialDepth = 539.703415; finalDepth = 543.831287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.831287 # Seafloor depth:-583.831287 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 122 # Segment length 52.790935 meters # Minimum depth: 579.703415 meters looking forward 0.000000 meters along route # Maximum depth: 579.703415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.703415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810772; longitude = -121.991581; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 532.782157; finalDepth = 539.703415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.703415 # Seafloor depth:-579.703415 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 52.790935 meters # Minimum depth: 572.782157 meters looking forward 0.000000 meters along route # Maximum depth: 572.782157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.782157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811104; longitude = -121.991506; captureRadius = 10; duration = 52; initialDepth = 531.873514; finalDepth = 532.782157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.782157 # Seafloor depth:-572.782157 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 52.790935 meters # Minimum depth: 571.873514 meters looking forward 0.000000 meters along route # Maximum depth: 571.873514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.873514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811553; longitude = -121.991404; captureRadius = 10; duration = 52; initialDepth = 527.590067; finalDepth = 531.873514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.873514 # Seafloor depth:-571.873514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 52.790935 meters # Minimum depth: 567.590067 meters looking forward 0.000000 meters along route # Maximum depth: 567.590067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.590067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812004; longitude = -121.991302; captureRadius = 10; duration = 52; initialDepth = 522.906020; finalDepth = 527.590067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.590067 # Seafloor depth:-567.590067 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 52.790935 meters # Minimum depth: 562.906020 meters looking forward 0.000000 meters along route # Maximum depth: 562.906020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.906020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812455; longitude = -121.991200; captureRadius = 10; duration = 52; initialDepth = 517.108780; finalDepth = 522.906020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.90602 # Seafloor depth:-562.906020 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 121 # Segment length 52.790935 meters # Minimum depth: 557.108780 meters looking forward 0.000000 meters along route # Maximum depth: 557.108780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.108780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812920; longitude = -121.991095; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 516.728178; finalDepth = 517.108780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.10878 # Seafloor depth:-557.108780 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 52.790935 meters # Minimum depth: 556.728178 meters looking forward 0.000000 meters along route # Maximum depth: 556.728178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.728178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812995; longitude = -121.991069; captureRadius = 10; duration = 52; initialDepth = 510.903722; finalDepth = 516.728178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.728178 # Seafloor depth:-556.728178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 52.790935 meters # Minimum depth: 550.903722 meters looking forward 0.000000 meters along route # Maximum depth: 550.903722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.903722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813446; longitude = -121.990916; captureRadius = 10; duration = 52; initialDepth = 508.153429; finalDepth = 510.903722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.903722 # Seafloor depth:-550.903722 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 52.790935 meters # Minimum depth: 548.153429 meters looking forward 0.000000 meters along route # Maximum depth: 548.153429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.153429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813897; longitude = -121.990762; captureRadius = 10; duration = 52; initialDepth = 505.437759; finalDepth = 508.153429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.153429 # Seafloor depth:-548.153429 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 52.790935 meters # Minimum depth: 545.437759 meters looking forward 0.000000 meters along route # Maximum depth: 545.437759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.437759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814347; longitude = -121.990609; captureRadius = 10; duration = 52; initialDepth = 500.971252; finalDepth = 505.437759; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.437759 # Seafloor depth:-545.437759 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 120 # Segment length 52.790935 meters # Minimum depth: 540.971252 meters looking forward 0.000000 meters along route # Maximum depth: 540.971252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.971252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814783; longitude = -121.990460; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 499.550212; finalDepth = 500.971252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.971252 # Seafloor depth:-540.971252 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 52.790935 meters # Minimum depth: 539.550212 meters looking forward 0.000000 meters along route # Maximum depth: 539.550212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.550212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814843; longitude = -121.990433; captureRadius = 10; duration = 52; initialDepth = 491.950138; finalDepth = 499.550212; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.550212 # Seafloor depth:-539.550212 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 52.790935 meters # Minimum depth: 531.950138 meters looking forward 0.000000 meters along route # Maximum depth: 531.950138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.950138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815294; longitude = -121.990231; captureRadius = 10; duration = 52; initialDepth = 488.216816; finalDepth = 491.950138; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.950138 # Seafloor depth:-531.950138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 52.790935 meters # Minimum depth: 528.216816 meters looking forward 0.000000 meters along route # Maximum depth: 528.216816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.216816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815744; longitude = -121.990028; captureRadius = 10; duration = 52; initialDepth = 483.357606; finalDepth = 488.216816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.216816 # Seafloor depth:-528.216816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 52.790935 meters # Minimum depth: 523.357606 meters looking forward 0.000000 meters along route # Maximum depth: 523.357606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.357606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816197; longitude = -121.989825; captureRadius = 10; duration = 52; initialDepth = 480.471349; finalDepth = 483.357606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.357606 # Seafloor depth:-523.357606 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 52.790935 meters # Minimum depth: 520.471349 meters looking forward 0.000000 meters along route # Maximum depth: 520.471349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.471349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816645; longitude = -121.989623; captureRadius = 10; duration = 52; initialDepth = 475.727905; finalDepth = 480.471349; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.471349 # Seafloor depth:-520.471349 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 119 # Segment length 52.790935 meters # Minimum depth: 515.727905 meters looking forward 0.000000 meters along route # Maximum depth: 515.727905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.727905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817111; longitude = -121.989414; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 472.413331; finalDepth = 475.727905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:475.727905 # Seafloor depth:-515.727905 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 52.790935 meters # Minimum depth: 512.413331 meters looking forward 0.000000 meters along route # Maximum depth: 512.413331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.413331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817411; longitude = -121.989306; captureRadius = 10; duration = 52; initialDepth = 466.647393; finalDepth = 472.413331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.413331 # Seafloor depth:-512.413331 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 52.790935 meters # Minimum depth: 506.647393 meters looking forward 0.000000 meters along route # Maximum depth: 506.647393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.647393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817862; longitude = -121.989145; captureRadius = 10; duration = 52; initialDepth = 462.881450; finalDepth = 466.647393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.647393 # Seafloor depth:-506.647393 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 52.790935 meters # Minimum depth: 502.881450 meters looking forward 0.000000 meters along route # Maximum depth: 502.881450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.881450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818313; longitude = -121.988984; captureRadius = 10; duration = 52; initialDepth = 455.537756; finalDepth = 462.881450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.88145 # Seafloor depth:-502.881450 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 52.790935 meters # Minimum depth: 495.537756 meters looking forward 0.000000 meters along route # Maximum depth: 495.537756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.537756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818763; longitude = -121.988822; captureRadius = 10; duration = 52; initialDepth = 455.726074; finalDepth = 455.537756; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.537756 # Seafloor depth:-495.537756 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 118 # Segment length 52.790935 meters # Minimum depth: 495.726074 meters looking forward 0.000000 meters along route # Maximum depth: 495.726074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.726074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819199; longitude = -121.988666; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 453.970743; finalDepth = 455.726074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.726074 # Seafloor depth:-495.726074 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 52.790935 meters # Minimum depth: 493.970743 meters looking forward 0.000000 meters along route # Maximum depth: 493.970743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.970743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819349; longitude = -121.988589; captureRadius = 10; duration = 52; initialDepth = 451.226533; finalDepth = 453.970743; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.970743 # Seafloor depth:-493.970743 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 52.790935 meters # Minimum depth: 491.226533 meters looking forward 0.000000 meters along route # Maximum depth: 491.226533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.226533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819800; longitude = -121.988357; captureRadius = 10; duration = 52; initialDepth = 446.931419; finalDepth = 451.226533; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.226533 # Seafloor depth:-491.226533 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 52.790935 meters # Minimum depth: 486.931419 meters looking forward 0.000000 meters along route # Maximum depth: 486.931419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.931419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820250; longitude = -121.988125; captureRadius = 10; duration = 52; initialDepth = 444.366130; finalDepth = 446.931419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:446.931419 # Seafloor depth:-486.931419 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 52.790935 meters # Minimum depth: 484.366130 meters looking forward 0.000000 meters along route # Maximum depth: 484.366130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.366130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820701; longitude = -121.987893; captureRadius = 10; duration = 52; initialDepth = 443.433983; finalDepth = 444.366130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.36613 # Seafloor depth:-484.366130 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 117 # Segment length 52.790935 meters # Minimum depth: 483.433983 meters looking forward 0.000000 meters along route # Maximum depth: 483.433983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.433983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821122; longitude = -121.987676; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 441.775091; finalDepth = 443.433983; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.433983 # Seafloor depth:-483.433983 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 52.790935 meters # Minimum depth: 481.775091 meters looking forward 0.000000 meters along route # Maximum depth: 481.775091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.775091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821283; longitude = -121.987415; captureRadius = 10; duration = 52; initialDepth = 439.479731; finalDepth = 441.775091; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:441.775091 # Seafloor depth:-481.775091 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 52.790935 meters # Minimum depth: 479.479731 meters looking forward 0.000000 meters along route # Maximum depth: 479.479731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.479731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821559; longitude = -121.986966; captureRadius = 10; duration = 52; initialDepth = 437.987518; finalDepth = 439.479731; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:439.479731 # Seafloor depth:-479.479731 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 116 # Segment length 52.790935 meters # Minimum depth: 477.987518 meters looking forward 0.000000 meters along route # Maximum depth: 477.987518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.987518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821858; longitude = -121.986481; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 438.011680; finalDepth = 437.987518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.987518 # Seafloor depth:-477.987518 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 52.790935 meters # Minimum depth: 478.011680 meters looking forward 0.000000 meters along route # Maximum depth: 478.011680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.011680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821876; longitude = -121.986462; captureRadius = 10; duration = 52; initialDepth = 435.954175; finalDepth = 438.011680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:438.01168 # Seafloor depth:-478.011680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 52.790935 meters # Minimum depth: 475.954175 meters looking forward 0.000000 meters along route # Maximum depth: 475.954175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.954175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822246; longitude = -121.986070; captureRadius = 10; duration = 52; initialDepth = 434.726817; finalDepth = 435.954175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.954175 # Seafloor depth:-475.954175 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 52.790935 meters # Minimum depth: 474.726817 meters looking forward 0.000000 meters along route # Maximum depth: 474.726817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.726817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822594; longitude = -121.985701; captureRadius = 10; duration = 52; initialDepth = 431.405915; finalDepth = 434.726817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.726817 # Seafloor depth:-474.726817 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 52.790935 meters # Minimum depth: 471.405915 meters looking forward 0.000000 meters along route # Maximum depth: 471.405915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.405915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822954; longitude = -121.985319; captureRadius = 10; duration = 52; initialDepth = 425.131254; finalDepth = 431.405915; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.405915 # Seafloor depth:-471.405915 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 52.790935 meters # Minimum depth: 465.131254 meters looking forward 0.000000 meters along route # Maximum depth: 465.131254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.131254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823315; longitude = -121.984936; captureRadius = 10; duration = 52; initialDepth = 417.759781; finalDepth = 425.131254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:425.131254 # Seafloor depth:-465.131254 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 115 # Segment length 52.790935 meters # Minimum depth: 457.759781 meters looking forward 0.000000 meters along route # Maximum depth: 457.759781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.759781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823690; longitude = -121.984538; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 416.452701; finalDepth = 417.759781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.759781 # Seafloor depth:-457.759781 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 52.790935 meters # Minimum depth: 456.452701 meters looking forward 0.000000 meters along route # Maximum depth: 456.452701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.452701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823820; longitude = -121.984837; captureRadius = 10; duration = 52; initialDepth = 413.497063; finalDepth = 416.452701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:416.452701 # Seafloor depth:-456.452701 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 52.790935 meters # Minimum depth: 453.497063 meters looking forward 0.000000 meters along route # Maximum depth: 453.497063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.497063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824040; longitude = -121.985341; captureRadius = 10; duration = 52; initialDepth = 414.951973; finalDepth = 413.497063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:413.497063 # Seafloor depth:-453.497063 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 114 # Segment length 52.790935 meters # Minimum depth: 454.951973 meters looking forward 0.000000 meters along route # Maximum depth: 454.951973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.951973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824276; longitude = -121.985883; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 418.738348; finalDepth = 414.951973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:414.951973 # Seafloor depth:-454.951973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 52.790935 meters # Minimum depth: 458.738348 meters looking forward 0.000000 meters along route # Maximum depth: 458.738348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.738348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824187; longitude = -121.986014; captureRadius = 10; duration = 52; initialDepth = 426.130810; finalDepth = 418.738348; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.738348 # Seafloor depth:-458.738348 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 52.790935 meters # Minimum depth: 466.130810 meters looking forward 0.000000 meters along route # Maximum depth: 466.130810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.130810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823880; longitude = -121.986462; captureRadius = 10; duration = 52; initialDepth = 431.235924; finalDepth = 426.130810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:426.13081 # Seafloor depth:-466.130810 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 52.790935 meters # Minimum depth: 471.235924 meters looking forward 0.000000 meters along route # Maximum depth: 471.235924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.235924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823573; longitude = -121.986910; captureRadius = 10; duration = 52; initialDepth = 435.196096; finalDepth = 431.235924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.235924 # Seafloor depth:-471.235924 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 52.790935 meters # Minimum depth: 475.196096 meters looking forward 0.000000 meters along route # Maximum depth: 475.196096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.196096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823266; longitude = -121.987359; captureRadius = 10; duration = 52; initialDepth = 437.401821; finalDepth = 435.196096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.196096 # Seafloor depth:-475.196096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 52.790935 meters # Minimum depth: 477.401821 meters looking forward 0.000000 meters along route # Maximum depth: 477.401821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.401821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822954; longitude = -121.987814; captureRadius = 10; duration = 52; initialDepth = 441.073723; finalDepth = 437.401821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.401821 # Seafloor depth:-477.401821 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 52.790935 meters # Minimum depth: 481.073723 meters looking forward 0.000000 meters along route # Maximum depth: 481.073723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.073723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822639; longitude = -121.988275; captureRadius = 10; duration = 52; initialDepth = 445.241628; finalDepth = 441.073723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:441.073723 # Seafloor depth:-481.073723 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 52.790935 meters # Minimum depth: 485.241628 meters looking forward 0.000000 meters along route # Maximum depth: 485.241628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.241628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822345; longitude = -121.988704; captureRadius = 10; duration = 52; initialDepth = 449.010730; finalDepth = 445.241628; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.241628 # Seafloor depth:-485.241628 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 52.790935 meters # Minimum depth: 489.010730 meters looking forward 0.000000 meters along route # Maximum depth: 489.010730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.010730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822038; longitude = -121.989152; captureRadius = 10; duration = 52; initialDepth = 454.140433; finalDepth = 449.010730; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:449.01073 # Seafloor depth:-489.010730 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 52.790935 meters # Minimum depth: 494.140433 meters looking forward 0.000000 meters along route # Maximum depth: 494.140433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.140433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821731; longitude = -121.989600; captureRadius = 10; duration = 52; initialDepth = 458.344040; finalDepth = 454.140433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.140433 # Seafloor depth:-494.140433 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 113 # Segment length 52.790935 meters # Minimum depth: 498.344040 meters looking forward 0.000000 meters along route # Maximum depth: 498.344040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.344040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821437; longitude = -121.990030; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 458.365191; finalDepth = 458.344040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.34404 # Seafloor depth:-498.344040 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 52.790935 meters # Minimum depth: 498.365191 meters looking forward 0.000000 meters along route # Maximum depth: 498.365191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.365191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821494; longitude = -121.990161; captureRadius = 10; duration = 52; initialDepth = 457.762367; finalDepth = 458.365191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.365191 # Seafloor depth:-498.365191 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 112 # Segment length 52.790935 meters # Minimum depth: 497.762367 meters looking forward 0.000000 meters along route # Maximum depth: 497.762367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.762367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821722; longitude = -121.990684; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 453.782852; finalDepth = 457.762367; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.762367 # Seafloor depth:-497.762367 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 52.790935 meters # Minimum depth: 493.782852 meters looking forward 0.000000 meters along route # Maximum depth: 493.782852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.782852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822008; longitude = -121.990307; captureRadius = 10; duration = 52; initialDepth = 449.373737; finalDepth = 453.782852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.782852 # Seafloor depth:-493.782852 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 52.790935 meters # Minimum depth: 489.373737 meters looking forward 0.000000 meters along route # Maximum depth: 489.373737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.373737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822323; longitude = -121.989890; captureRadius = 10; duration = 52; initialDepth = 445.576528; finalDepth = 449.373737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:449.373737 # Seafloor depth:-489.373737 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 52.790935 meters # Minimum depth: 485.576528 meters looking forward 0.000000 meters along route # Maximum depth: 485.576528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.576528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822639; longitude = -121.989474; captureRadius = 10; duration = 52; initialDepth = 441.811403; finalDepth = 445.576528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.576528 # Seafloor depth:-485.576528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 52.790935 meters # Minimum depth: 481.811403 meters looking forward 0.000000 meters along route # Maximum depth: 481.811403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.811403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822954; longitude = -121.989057; captureRadius = 10; duration = 52; initialDepth = 437.834474; finalDepth = 441.811403; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:441.811403 # Seafloor depth:-481.811403 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 52.790935 meters # Minimum depth: 477.834474 meters looking forward 0.000000 meters along route # Maximum depth: 477.834474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.834474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823269; longitude = -121.988640; captureRadius = 10; duration = 52; initialDepth = 434.207381; finalDepth = 437.834474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.834474 # Seafloor depth:-477.834474 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 52.790935 meters # Minimum depth: 474.207381 meters looking forward 0.000000 meters along route # Maximum depth: 474.207381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.207381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823604; longitude = -121.988199; captureRadius = 10; duration = 52; initialDepth = 430.343948; finalDepth = 434.207381; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.207381 # Seafloor depth:-474.207381 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 111 # Segment length 52.790935 meters # Minimum depth: 470.343948 meters looking forward 0.000000 meters along route # Maximum depth: 470.343948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.343948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823915; longitude = -121.987788; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 429.913682; finalDepth = 430.343948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:430.343948 # Seafloor depth:-470.343948 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 52.790935 meters # Minimum depth: 469.913682 meters looking forward 0.000000 meters along route # Maximum depth: 469.913682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.913682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823945; longitude = -121.987746; captureRadius = 10; duration = 52; initialDepth = 425.375534; finalDepth = 429.913682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.913682 # Seafloor depth:-469.913682 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 52.790935 meters # Minimum depth: 465.375534 meters looking forward 0.000000 meters along route # Maximum depth: 465.375534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.375534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824268; longitude = -121.987303; captureRadius = 10; duration = 52; initialDepth = 422.504466; finalDepth = 425.375534; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:425.375534 # Seafloor depth:-465.375534 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 52.790935 meters # Minimum depth: 462.504466 meters looking forward 0.000000 meters along route # Maximum depth: 462.504466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.504466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824576; longitude = -121.986879; captureRadius = 10; duration = 52; initialDepth = 418.157610; finalDepth = 422.504466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:422.504466 # Seafloor depth:-462.504466 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 52.790935 meters # Minimum depth: 458.157610 meters looking forward 0.000000 meters along route # Maximum depth: 458.157610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.157610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824879; longitude = -121.986462; captureRadius = 10; duration = 52; initialDepth = 412.350388; finalDepth = 418.157610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.15761 # Seafloor depth:-458.157610 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 110 # Segment length 52.790935 meters # Minimum depth: 452.350388 meters looking forward 0.000000 meters along route # Maximum depth: 452.350388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.350388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825192; longitude = -121.986032; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 409.855426; finalDepth = 412.350388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:412.350388 # Seafloor depth:-452.350388 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 52.790935 meters # Minimum depth: 449.855426 meters looking forward 0.000000 meters along route # Maximum depth: 449.855426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.855426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825097; longitude = -121.985789; captureRadius = 10; duration = 52; initialDepth = 400.476182; finalDepth = 409.855426; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:409.855426 # Seafloor depth:-449.855426 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 52.790935 meters # Minimum depth: 440.476182 meters looking forward 0.000000 meters along route # Maximum depth: 440.476182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.476182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824899; longitude = -121.985285; captureRadius = 10; duration = 52; initialDepth = 396.143357; finalDepth = 400.476182; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:400.476182 # Seafloor depth:-440.476182 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 52.790935 meters # Minimum depth: 436.143357 meters looking forward 0.000000 meters along route # Maximum depth: 436.143357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.143357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824701; longitude = -121.984781; captureRadius = 10; duration = 52; initialDepth = 403.982747; finalDepth = 396.143357; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.143357 # Seafloor depth:-436.143357 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 52.790935 meters # Minimum depth: 443.982747 meters looking forward 0.000000 meters along route # Maximum depth: 443.982747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.982747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824504; longitude = -121.984276; captureRadius = 10; duration = 52; initialDepth = 406.100822; finalDepth = 403.982747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:403.982747 # Seafloor depth:-443.982747 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 109 # Segment length 52.790935 meters # Minimum depth: 446.100822 meters looking forward 0.000000 meters along route # Maximum depth: 446.100822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.100822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824291; longitude = -121.983734; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 406.775662; finalDepth = 406.100822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:406.100822 # Seafloor depth:-446.100822 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 52.790935 meters # Minimum depth: 446.775662 meters looking forward 0.000000 meters along route # Maximum depth: 446.775662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.775662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824126; longitude = -121.983259; captureRadius = 10; duration = 52; initialDepth = 403.116865; finalDepth = 406.775662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:406.775662 # Seafloor depth:-446.775662 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 52.790935 meters # Minimum depth: 443.116865 meters looking forward 0.000000 meters along route # Maximum depth: 443.116865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.116865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823945; longitude = -121.982740; captureRadius = 10; duration = 52; initialDepth = 405.884511; finalDepth = 403.116865; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:403.116865 # Seafloor depth:-443.116865 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 52.790935 meters # Minimum depth: 445.884511 meters looking forward 0.000000 meters along route # Maximum depth: 445.884511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.884511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823758; longitude = -121.982202; captureRadius = 10; duration = 52; initialDepth = 408.493607; finalDepth = 405.884511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.884511 # Seafloor depth:-445.884511 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 108 # Segment length 52.790935 meters # Minimum depth: 448.493607 meters looking forward 0.000000 meters along route # Maximum depth: 448.493607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.493607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823570; longitude = -121.981661; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 410.007808; finalDepth = 408.493607; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:408.493607 # Seafloor depth:-448.493607 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 52.790935 meters # Minimum depth: 450.007808 meters looking forward 0.000000 meters along route # Maximum depth: 450.007808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.007808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823450; longitude = -121.981616; captureRadius = 10; duration = 52; initialDepth = 414.355402; finalDepth = 410.007808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.007808 # Seafloor depth:-450.007808 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 52.790935 meters # Minimum depth: 454.355402 meters looking forward 0.000000 meters along route # Maximum depth: 454.355402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.355402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822999; longitude = -121.981449; captureRadius = 10; duration = 52; initialDepth = 414.670230; finalDepth = 414.355402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:414.355402 # Seafloor depth:-454.355402 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 52.790935 meters # Minimum depth: 454.670230 meters looking forward 0.000000 meters along route # Maximum depth: 454.670230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.670230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822548; longitude = -121.981281; captureRadius = 10; duration = 52; initialDepth = 412.657765; finalDepth = 414.670230; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:414.67023 # Seafloor depth:-454.670230 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 52.790935 meters # Minimum depth: 452.657765 meters looking forward 0.000000 meters along route # Maximum depth: 452.657765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.657765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822098; longitude = -121.981113; captureRadius = 10; duration = 52; initialDepth = 405.412331; finalDepth = 412.657765; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:412.657765 # Seafloor depth:-452.657765 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 107 # Segment length 52.790935 meters # Minimum depth: 445.412331 meters looking forward 0.000000 meters along route # Maximum depth: 445.412331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.412331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821662; longitude = -121.980951; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 402.962576; finalDepth = 405.412331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.412331 # Seafloor depth:-445.412331 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 52.790935 meters # Minimum depth: 442.962576 meters looking forward 0.000000 meters along route # Maximum depth: 442.962576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.962576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821762; longitude = -121.980577; captureRadius = 10; duration = 52; initialDepth = 396.650937; finalDepth = 402.962576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:402.962576 # Seafloor depth:-442.962576 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 52.790935 meters # Minimum depth: 436.650937 meters looking forward 0.000000 meters along route # Maximum depth: 436.650937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.650937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821918; longitude = -121.979998; captureRadius = 10; duration = 52; initialDepth = 390.681137; finalDepth = 396.650937; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.650937 # Seafloor depth:-436.650937 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 106 # Segment length 52.790935 meters # Minimum depth: 430.681137 meters looking forward 0.000000 meters along route # Maximum depth: 430.681137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.681137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822068; longitude = -121.979438; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 392.366753; finalDepth = 390.681137; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:390.681137 # Seafloor depth:-430.681137 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 52.790935 meters # Minimum depth: 432.366753 meters looking forward 0.000000 meters along route # Maximum depth: 432.366753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.366753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822285; longitude = -121.979176; captureRadius = 10; duration = 52; initialDepth = 392.005297; finalDepth = 392.366753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:392.366753 # Seafloor depth:-432.366753 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 52.790935 meters # Minimum depth: 432.005297 meters looking forward 0.000000 meters along route # Maximum depth: 432.005297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.005297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822610; longitude = -121.978784; captureRadius = 10; duration = 52; initialDepth = 389.827143; finalDepth = 392.005297; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:392.005297 # Seafloor depth:-432.005297 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 52.790935 meters # Minimum depth: 429.827143 meters looking forward 0.000000 meters along route # Maximum depth: 429.827143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.827143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822935; longitude = -121.978391; captureRadius = 10; duration = 52; initialDepth = 385.674021; finalDepth = 389.827143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.827143 # Seafloor depth:-429.827143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 52.790935 meters # Minimum depth: 425.674021 meters looking forward 0.000000 meters along route # Maximum depth: 425.674021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.674021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823269; longitude = -121.977987; captureRadius = 10; duration = 52; initialDepth = 381.532600; finalDepth = 385.674021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.674021 # Seafloor depth:-425.674021 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 105 # Segment length 52.790935 meters # Minimum depth: 421.532600 meters looking forward 0.000000 meters along route # Maximum depth: 421.532600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.532600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823600; longitude = -121.977588; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 380.409908; finalDepth = 381.532600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.5326 # Seafloor depth:-421.532600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 52.790935 meters # Minimum depth: 420.409908 meters looking forward 0.000000 meters along route # Maximum depth: 420.409908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.409908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823765; longitude = -121.977434; captureRadius = 10; duration = 52; initialDepth = 377.857067; finalDepth = 380.409908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:380.409908 # Seafloor depth:-420.409908 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 52.790935 meters # Minimum depth: 417.857067 meters looking forward 0.000000 meters along route # Maximum depth: 417.857067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.857067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824126; longitude = -121.977097; captureRadius = 10; duration = 52; initialDepth = 374.005042; finalDepth = 377.857067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.857067 # Seafloor depth:-417.857067 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 52.790935 meters # Minimum depth: 414.005042 meters looking forward 0.000000 meters along route # Maximum depth: 414.005042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.005042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824486; longitude = -121.976760; captureRadius = 10; duration = 52; initialDepth = 370.583166; finalDepth = 374.005042; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:374.005042 # Seafloor depth:-414.005042 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 52.790935 meters # Minimum depth: 410.583166 meters looking forward 0.000000 meters along route # Maximum depth: 410.583166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.583166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824847; longitude = -121.976422; captureRadius = 10; duration = 52; initialDepth = 366.674068; finalDepth = 370.583166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:370.583166 # Seafloor depth:-410.583166 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 52.790935 meters # Minimum depth: 406.674068 meters looking forward 0.000000 meters along route # Maximum depth: 406.674068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.674068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825207; longitude = -121.976085; captureRadius = 10; duration = 52; initialDepth = 363.325897; finalDepth = 366.674068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:366.674068 # Seafloor depth:-406.674068 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 104 # Segment length 52.790935 meters # Minimum depth: 403.325897 meters looking forward 0.000000 meters along route # Maximum depth: 403.325897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.325897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825598; longitude = -121.975720; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 362.217209; finalDepth = 363.325897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:363.325897 # Seafloor depth:-403.325897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 52.790935 meters # Minimum depth: 402.217209 meters looking forward 0.000000 meters along route # Maximum depth: 402.217209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.217209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825703; longitude = -121.975633; captureRadius = 10; duration = 52; initialDepth = 359.866844; finalDepth = 362.217209; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:362.217209 # Seafloor depth:-402.217209 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 52.790935 meters # Minimum depth: 399.866844 meters looking forward 0.000000 meters along route # Maximum depth: 399.866844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.866844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826108; longitude = -121.975299; captureRadius = 10; duration = 52; initialDepth = 358.155235; finalDepth = 359.866844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:359.866844 # Seafloor depth:-399.866844 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 52.790935 meters # Minimum depth: 398.155235 meters looking forward 0.000000 meters along route # Maximum depth: 398.155235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.155235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826514; longitude = -121.974964; captureRadius = 10; duration = 52; initialDepth = 357.409568; finalDepth = 358.155235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:358.155235 # Seafloor depth:-398.155235 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 52.790935 meters # Minimum depth: 397.409568 meters looking forward 0.000000 meters along route # Maximum depth: 397.409568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.409568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826919; longitude = -121.974629; captureRadius = 10; duration = 52; initialDepth = 353.455414; finalDepth = 357.409568; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:357.409568 # Seafloor depth:-397.409568 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 103 # Segment length 52.790935 meters # Minimum depth: 393.455414 meters looking forward 0.000000 meters along route # Maximum depth: 393.455414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.455414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827340; longitude = -121.974282; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 349.388197; finalDepth = 353.455414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:353.455414 # Seafloor depth:-393.455414 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 52.790935 meters # Minimum depth: 389.388197 meters looking forward 0.000000 meters along route # Maximum depth: 389.388197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.388197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827595; longitude = -121.974093; captureRadius = 10; duration = 52; initialDepth = 343.559323; finalDepth = 349.388197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:349.388197 # Seafloor depth:-389.388197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 52.790935 meters # Minimum depth: 383.559323 meters looking forward 0.000000 meters along route # Maximum depth: 383.559323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.559323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828001; longitude = -121.973792; captureRadius = 10; duration = 52; initialDepth = 339.501871; finalDepth = 343.559323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:343.559323 # Seafloor depth:-383.559323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 52.790935 meters # Minimum depth: 379.501871 meters looking forward 0.000000 meters along route # Maximum depth: 379.501871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.501871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828407; longitude = -121.973492; captureRadius = 10; duration = 52; initialDepth = 335.706943; finalDepth = 339.501871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:339.501871 # Seafloor depth:-379.501871 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 52.790935 meters # Minimum depth: 375.706943 meters looking forward 0.000000 meters along route # Maximum depth: 375.706943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.706943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828829; longitude = -121.973179; captureRadius = 10; duration = 52; initialDepth = 333.524643; finalDepth = 335.706943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:335.706943 # Seafloor depth:-375.706943 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 102 # Segment length 52.790935 meters # Minimum depth: 373.524643 meters looking forward 0.000000 meters along route # Maximum depth: 373.524643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.524643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829233; longitude = -121.972880; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 332.912047; finalDepth = 333.524643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:333.524643 # Seafloor depth:-373.524643 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 52.790935 meters # Minimum depth: 372.912047 meters looking forward 0.000000 meters along route # Maximum depth: 372.912047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.912047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829308; longitude = -121.972833; captureRadius = 10; duration = 52; initialDepth = 333.139755; finalDepth = 332.912047; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:332.912047 # Seafloor depth:-372.912047 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 52.790935 meters # Minimum depth: 373.139755 meters looking forward 0.000000 meters along route # Maximum depth: 373.139755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.139755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829713; longitude = -121.972575; captureRadius = 10; duration = 52; initialDepth = 332.079800; finalDepth = 333.139755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:333.139755 # Seafloor depth:-373.139755 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 52.790935 meters # Minimum depth: 372.079800 meters looking forward 0.000000 meters along route # Maximum depth: 372.079800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.079800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830119; longitude = -121.972317; captureRadius = 10; duration = 52; initialDepth = 330.845577; finalDepth = 332.079800; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:332.0798 # Seafloor depth:-372.079800 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 52.790935 meters # Minimum depth: 370.845577 meters looking forward 0.000000 meters along route # Maximum depth: 370.845577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.845577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830527; longitude = -121.972058; captureRadius = 10; duration = 52; initialDepth = 325.547208; finalDepth = 330.845577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:330.845577 # Seafloor depth:-370.845577 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 52.790935 meters # Minimum depth: 365.547208 meters looking forward 0.000000 meters along route # Maximum depth: 365.547208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 325.547208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830930; longitude = -121.971802; captureRadius = 10; duration = 52; initialDepth = 316.708176; finalDepth = 325.547208; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:325.547208 # Seafloor depth:-365.547208 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 101 # Segment length 52.790935 meters # Minimum depth: 356.708176 meters looking forward 0.000000 meters along route # Maximum depth: 356.708176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 316.708176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831351; longitude = -121.971535; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 313.069313; finalDepth = 316.708176; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:316.708176 # Seafloor depth:-356.708176 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 52.790935 meters # Minimum depth: 353.069313 meters looking forward 0.000000 meters along route # Maximum depth: 353.069313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.069313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831651; longitude = -121.971327; captureRadius = 10; duration = 52; initialDepth = 309.405705; finalDepth = 313.069313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:313.069313 # Seafloor depth:-353.069313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 52.790935 meters # Minimum depth: 349.405705 meters looking forward 0.000000 meters along route # Maximum depth: 349.405705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.405705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832057; longitude = -121.971046; captureRadius = 10; duration = 52; initialDepth = 305.552636; finalDepth = 309.405705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:309.405705 # Seafloor depth:-349.405705 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 52.790935 meters # Minimum depth: 345.552636 meters looking forward 0.000000 meters along route # Maximum depth: 345.552636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 305.552636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832462; longitude = -121.970764; captureRadius = 10; duration = 52; initialDepth = 300.546780; finalDepth = 305.552636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:305.552636 # Seafloor depth:-345.552636 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 52.790935 meters # Minimum depth: 340.546780 meters looking forward 0.000000 meters along route # Maximum depth: 340.546780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.546780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832868; longitude = -121.970483; captureRadius = 10; duration = 52; initialDepth = 298.048341; finalDepth = 300.546780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:300.54678 # Seafloor depth:-340.546780 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 52.790935 meters # Minimum depth: 338.048341 meters looking forward 0.000000 meters along route # Maximum depth: 338.048341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.048341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833273; longitude = -121.970202; captureRadius = 10; duration = 52; initialDepth = 295.463867; finalDepth = 298.048341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:298.048341 # Seafloor depth:-338.048341 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 100 # Segment length 52.790935 meters # Minimum depth: 335.463867 meters looking forward 0.000000 meters along route # Maximum depth: 335.463867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.463867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833694; longitude = -121.969910; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 292.927282; finalDepth = 295.463867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:295.463867 # Seafloor depth:-335.463867 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 52.790935 meters # Minimum depth: 332.927282 meters looking forward 0.000000 meters along route # Maximum depth: 332.927282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.927282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833923; longitude = -121.969649; captureRadius = 10; duration = 52; initialDepth = 289.415500; finalDepth = 292.927282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:292.927282 # Seafloor depth:-332.927282 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 52.790935 meters # Minimum depth: 329.415500 meters looking forward 0.000000 meters along route # Maximum depth: 329.415500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.415500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834267; longitude = -121.969256; captureRadius = 10; duration = 52; initialDepth = 285.262772; finalDepth = 289.415500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:289.4155 # Seafloor depth:-329.415500 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 52.790935 meters # Minimum depth: 325.262772 meters looking forward 0.000000 meters along route # Maximum depth: 325.262772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.262772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834625; longitude = -121.968848; captureRadius = 10; duration = 52; initialDepth = 278.578928; finalDepth = 285.262772; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:285.262772 # Seafloor depth:-325.262772 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 52.790935 meters # Minimum depth: 318.578928 meters looking forward 0.000000 meters along route # Maximum depth: 318.578928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.578928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834986; longitude = -121.968436; captureRadius = 10; duration = 52; initialDepth = 270.809547; finalDepth = 278.578928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:278.578928 # Seafloor depth:-318.578928 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 99 # Segment length 52.790935 meters # Minimum depth: 310.809547 meters looking forward 0.000000 meters along route # Maximum depth: 310.809547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.809547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835331; longitude = -121.968042; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 270.113284; finalDepth = 270.809547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:270.809547 # Seafloor depth:-310.809547 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 52.790935 meters # Minimum depth: 310.113284 meters looking forward 0.000000 meters along route # Maximum depth: 310.113284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.113284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835355; longitude = -121.968023; captureRadius = 10; duration = 52; initialDepth = 263.225526; finalDepth = 270.113284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:270.113284 # Seafloor depth:-310.113284 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 52.790935 meters # Minimum depth: 303.225526 meters looking forward 0.000000 meters along route # Maximum depth: 303.225526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.225526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835752; longitude = -121.967713; captureRadius = 10; duration = 52; initialDepth = 261.103781; finalDepth = 263.225526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:263.225526 # Seafloor depth:-303.225526 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 52.790935 meters # Minimum depth: 301.103781 meters looking forward 0.000000 meters along route # Maximum depth: 301.103781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.103781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836157; longitude = -121.967395; captureRadius = 10; duration = 52; initialDepth = 262.121317; finalDepth = 261.103781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:261.103781 # Seafloor depth:-301.103781 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 52.790935 meters # Minimum depth: 302.121317 meters looking forward 0.000000 meters along route # Maximum depth: 302.121317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.121317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836571; longitude = -121.967070; captureRadius = 10; duration = 52; initialDepth = 259.845082; finalDepth = 262.121317; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:262.121317 # Seafloor depth:-302.121317 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 52.790935 meters # Minimum depth: 299.845082 meters looking forward 0.000000 meters along route # Maximum depth: 299.845082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.845082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836968; longitude = -121.966759; captureRadius = 10; duration = 52; initialDepth = 255.292808; finalDepth = 259.845082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:259.845082 # Seafloor depth:-299.845082 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 52.790935 meters # Minimum depth: 295.292808 meters looking forward 0.000000 meters along route # Maximum depth: 295.292808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.292808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837374; longitude = -121.966442; captureRadius = 10; duration = 52; initialDepth = 251.586670; finalDepth = 255.292808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:255.292808 # Seafloor depth:-295.292808 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 98 # Segment length 52.790935 meters # Minimum depth: 291.586670 meters looking forward 0.000000 meters along route # Maximum depth: 291.586670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.586670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837764; longitude = -121.966136; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 251.167905; finalDepth = 251.586670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:251.58667 # Seafloor depth:-291.586670 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 52.790935 meters # Minimum depth: 291.167905 meters looking forward 0.000000 meters along route # Maximum depth: 291.167905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.167905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837780; longitude = -121.966118; captureRadius = 10; duration = 52; initialDepth = 246.440481; finalDepth = 251.167905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:251.167905 # Seafloor depth:-291.167905 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 52.790935 meters # Minimum depth: 286.440481 meters looking forward 0.000000 meters along route # Maximum depth: 286.440481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.440481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838125; longitude = -121.965725; captureRadius = 10; duration = 52; initialDepth = 244.841681; finalDepth = 246.440481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:246.440481 # Seafloor depth:-286.440481 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 52.790935 meters # Minimum depth: 284.841681 meters looking forward 0.000000 meters along route # Maximum depth: 284.841681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 244.841681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838470; longitude = -121.965333; captureRadius = 10; duration = 52; initialDepth = 237.456408; finalDepth = 244.841681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:244.841681 # Seafloor depth:-284.841681 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 52.790935 meters # Minimum depth: 277.456408 meters looking forward 0.000000 meters along route # Maximum depth: 277.456408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.456408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838816; longitude = -121.964939; captureRadius = 10; duration = 52; initialDepth = 230.974314; finalDepth = 237.456408; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:237.456408 # Seafloor depth:-277.456408 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 52.790935 meters # Minimum depth: 270.974314 meters looking forward 0.000000 meters along route # Maximum depth: 270.974314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.974314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839176; longitude = -121.964529; captureRadius = 10; duration = 52; initialDepth = 223.486916; finalDepth = 230.974314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:230.974314 # Seafloor depth:-270.974314 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 52.790935 meters # Minimum depth: 263.486916 meters looking forward 0.000000 meters along route # Maximum depth: 263.486916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.486916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839537; longitude = -121.964119; captureRadius = 10; duration = 52; initialDepth = 210.519981; finalDepth = 223.486916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:223.486916 # Seafloor depth:-263.486916 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 97 # Segment length 52.790935 meters # Minimum depth: 250.519981 meters looking forward 0.000000 meters along route # Maximum depth: 250.519981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.519981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839882; longitude = -121.963726; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 199.665322; finalDepth = 210.519981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:210.519981 # Seafloor depth:-250.519981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 52.790935 meters # Minimum depth: 239.665322 meters looking forward 0.000000 meters along route # Maximum depth: 239.665322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.665322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840214; longitude = -121.963596; captureRadius = 10; duration = 52; initialDepth = 188.329252; finalDepth = 199.665322; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:199.665322 # Seafloor depth:-239.665322 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 52.790935 meters # Minimum depth: 228.329252 meters looking forward 0.000000 meters along route # Maximum depth: 228.329252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.329252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840663; longitude = -121.963419; captureRadius = 10; duration = 52; initialDepth = 191.467949; finalDepth = 188.329252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:188.329252 # Seafloor depth:-228.329252 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 52.790935 meters # Minimum depth: 231.467949 meters looking forward 0.000000 meters along route # Maximum depth: 231.467949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.467949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841114; longitude = -121.963243; captureRadius = 10; duration = 52; initialDepth = 190.792399; finalDepth = 191.467949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:191.467949 # Seafloor depth:-231.467949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 52.790935 meters # Minimum depth: 230.792399 meters looking forward 0.000000 meters along route # Maximum depth: 230.792399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.792399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841565; longitude = -121.963066; captureRadius = 10; duration = 52; initialDepth = 188.400450; finalDepth = 190.792399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:190.792399 # Seafloor depth:-230.792399 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 52.790935 meters # Minimum depth: 228.400450 meters looking forward 0.000000 meters along route # Maximum depth: 228.400450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.400450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842015; longitude = -121.962889; captureRadius = 10; duration = 52; initialDepth = 186.329887; finalDepth = 188.400450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:188.40045 # Seafloor depth:-228.400450 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 96 # Segment length 52.790935 meters # Minimum depth: 226.329887 meters looking forward 0.000000 meters along route # Maximum depth: 226.329887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.329887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842451; longitude = -121.962718; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 186.089694; finalDepth = 186.329887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:186.329887 # Seafloor depth:-226.329887 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 52.790935 meters # Minimum depth: 226.089694 meters looking forward 0.000000 meters along route # Maximum depth: 226.089694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.089694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842466; longitude = -121.962716; captureRadius = 10; duration = 52; initialDepth = 189.819517; finalDepth = 186.089694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:186.089694 # Seafloor depth:-226.089694 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 52.790935 meters # Minimum depth: 229.819517 meters looking forward 0.000000 meters along route # Maximum depth: 229.819517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.819517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842916; longitude = -121.962642; captureRadius = 10; duration = 52; initialDepth = 192.075373; finalDepth = 189.819517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:189.819517 # Seafloor depth:-229.819517 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 52.790935 meters # Minimum depth: 232.075373 meters looking forward 0.000000 meters along route # Maximum depth: 232.075373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 192.075373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843367; longitude = -121.962568; captureRadius = 10; duration = 52; initialDepth = 194.399958; finalDepth = 192.075373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:192.075373 # Seafloor depth:-232.075373 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 52.790935 meters # Minimum depth: 234.399958 meters looking forward 0.000000 meters along route # Maximum depth: 234.399958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 194.399958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843818; longitude = -121.962494; captureRadius = 10; duration = 52; initialDepth = 193.205217; finalDepth = 194.399958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:194.399958 # Seafloor depth:-234.399958 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 52.790935 meters # Minimum depth: 233.205217 meters looking forward 0.000000 meters along route # Maximum depth: 233.205217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 193.205217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844278; longitude = -121.962419; captureRadius = 10; duration = 52; initialDepth = 192.068237; finalDepth = 193.205217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:193.205217 # Seafloor depth:-233.205217 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 95 # Segment length 52.790935 meters # Minimum depth: 232.068237 meters looking forward 0.000000 meters along route # Maximum depth: 232.068237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 192.068237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844734; longitude = -121.962344; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 192.533623; finalDepth = 192.068237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:192.068237 # Seafloor depth:-232.068237 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 52.790935 meters # Minimum depth: 232.533623 meters looking forward 0.000000 meters along route # Maximum depth: 232.533623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 192.533623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844899; longitude = -121.962304; captureRadius = 10; duration = 52; initialDepth = 192.994611; finalDepth = 192.533623; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:192.533623 # Seafloor depth:-232.533623 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 52.790935 meters # Minimum depth: 232.994611 meters looking forward 0.000000 meters along route # Maximum depth: 232.994611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 192.994611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845350; longitude = -121.962194; captureRadius = 10; duration = 52; initialDepth = 191.511126; finalDepth = 192.994611; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:192.994611 # Seafloor depth:-232.994611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 52.790935 meters # Minimum depth: 231.511126 meters looking forward 0.000000 meters along route # Maximum depth: 231.511126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.511126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845800; longitude = -121.962085; captureRadius = 10; duration = 52; initialDepth = 190.307646; finalDepth = 191.511126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:191.511126 # Seafloor depth:-231.511126 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 52.790935 meters # Minimum depth: 230.307646 meters looking forward 0.000000 meters along route # Maximum depth: 230.307646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.307646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846251; longitude = -121.961975; captureRadius = 10; duration = 52; initialDepth = 189.954380; finalDepth = 190.307646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:190.307646 # Seafloor depth:-230.307646 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 52.790935 meters # Minimum depth: 229.954380 meters looking forward 0.000000 meters along route # Maximum depth: 229.954380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.954380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846702; longitude = -121.961866; captureRadius = 10; duration = 52; initialDepth = 190.832146; finalDepth = 189.954380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:189.95438 # Seafloor depth:-229.954380 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 52.790935 meters # Minimum depth: 230.832146 meters looking forward 0.000000 meters along route # Maximum depth: 230.832146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.832146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847152; longitude = -121.961756; captureRadius = 10; duration = 52; initialDepth = 189.380843; finalDepth = 190.832146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:190.832146 # Seafloor depth:-230.832146 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 52.790935 meters # Minimum depth: 229.380843 meters looking forward 0.000000 meters along route # Maximum depth: 229.380843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.380843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847603; longitude = -121.961647; captureRadius = 10; duration = 52; initialDepth = 181.149280; finalDepth = 189.380843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:189.380843 # Seafloor depth:-229.380843 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 52.790935 meters # Minimum depth: 221.149280 meters looking forward 0.000000 meters along route # Maximum depth: 221.149280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 181.149280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848053; longitude = -121.961537; captureRadius = 10; duration = 52; initialDepth = 175.394285; finalDepth = 181.149280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:181.14928 # Seafloor depth:-221.149280 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 52.790935 meters # Minimum depth: 215.394285 meters looking forward 0.000000 meters along route # Maximum depth: 215.394285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.394285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848504; longitude = -121.961428; captureRadius = 10; duration = 52; initialDepth = 173.776963; finalDepth = 175.394285; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:175.394285 # Seafloor depth:-215.394285 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 52.790935 meters # Minimum depth: 213.776963 meters looking forward 0.000000 meters along route # Maximum depth: 213.776963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.776963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848955; longitude = -121.961318; captureRadius = 10; duration = 52; initialDepth = 171.565948; finalDepth = 173.776963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:173.776963 # Seafloor depth:-213.776963 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 52.790935 meters # Minimum depth: 211.565948 meters looking forward 0.000000 meters along route # Maximum depth: 211.565948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.565948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849405; longitude = -121.961209; captureRadius = 10; duration = 52; initialDepth = 172.781300; finalDepth = 171.565948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:171.565948 # Seafloor depth:-211.565948 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 94 # Segment length 52.790935 meters # Minimum depth: 212.781300 meters looking forward 0.000000 meters along route # Maximum depth: 212.781300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.781300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849886; longitude = -121.961092; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 170.610628; finalDepth = 172.781300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:172.7813 # Seafloor depth:-212.781300 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 52.790935 meters # Minimum depth: 210.610628 meters looking forward 0.000000 meters along route # Maximum depth: 210.610628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.610628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850307; longitude = -121.960966; captureRadius = 10; duration = 52; initialDepth = 169.029472; finalDepth = 170.610628; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:170.610628 # Seafloor depth:-210.610628 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 52.790935 meters # Minimum depth: 209.029472 meters looking forward 0.000000 meters along route # Maximum depth: 209.029472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.029472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850757; longitude = -121.960832; captureRadius = 10; duration = 52; initialDepth = 164.484498; finalDepth = 169.029472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:169.029472 # Seafloor depth:-209.029472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 52.790935 meters # Minimum depth: 204.484498 meters looking forward 0.000000 meters along route # Maximum depth: 204.484498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.484498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851208; longitude = -121.960697; captureRadius = 10; duration = 52; initialDepth = 151.986581; finalDepth = 164.484498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:164.484498 # Seafloor depth:-204.484498 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 52.790935 meters # Minimum depth: 191.986581 meters looking forward 0.000000 meters along route # Maximum depth: 191.986581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.986581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851658; longitude = -121.960563; captureRadius = 10; duration = 52; initialDepth = 147.835261; finalDepth = 151.986581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:151.986581 # Seafloor depth:-191.986581 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 52.790935 meters # Minimum depth: 187.835261 meters looking forward 0.000000 meters along route # Maximum depth: 187.835261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.835261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852109; longitude = -121.960428; captureRadius = 10; duration = 52; initialDepth = 142.120227; finalDepth = 147.835261; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:147.835261 # Seafloor depth:-187.835261 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 52.790935 meters # Minimum depth: 182.120227 meters looking forward 0.000000 meters along route # Maximum depth: 182.120227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.120227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852560; longitude = -121.960294; captureRadius = 10; duration = 52; initialDepth = 139.699399; finalDepth = 142.120227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:142.120227 # Seafloor depth:-182.120227 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 52.790935 meters # Minimum depth: 179.699399 meters looking forward 0.000000 meters along route # Maximum depth: 179.699399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.699399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853010; longitude = -121.960159; captureRadius = 10; duration = 52; initialDepth = 136.746330; finalDepth = 139.699399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:139.699399 # Seafloor depth:-179.699399 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 52.790935 meters # Minimum depth: 176.746330 meters looking forward 0.000000 meters along route # Maximum depth: 176.746330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.746330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853461; longitude = -121.960025; captureRadius = 10; duration = 52; initialDepth = 135.245057; finalDepth = 136.746330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:136.74633 # Seafloor depth:-176.746330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 52.790935 meters # Minimum depth: 175.245057 meters looking forward 0.000000 meters along route # Maximum depth: 175.245057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.245057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853911; longitude = -121.959890; captureRadius = 10; duration = 52; initialDepth = 129.425442; finalDepth = 135.245057; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:135.245057 # Seafloor depth:-175.245057 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 93 # Segment length 52.790935 meters # Minimum depth: 169.425442 meters looking forward 0.000000 meters along route # Maximum depth: 169.425442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.425442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854392; longitude = -121.959747; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 128.913401; finalDepth = 129.425442; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:129.425442 # Seafloor depth:-169.425442 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 52.790935 meters # Minimum depth: 168.913401 meters looking forward 0.000000 meters along route # Maximum depth: 168.913401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 128.913401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854452; longitude = -121.959732; captureRadius = 10; duration = 52; initialDepth = 120.244510; finalDepth = 128.913401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:128.913401 # Seafloor depth:-168.913401 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 52.790935 meters # Minimum depth: 160.244510 meters looking forward 0.000000 meters along route # Maximum depth: 160.244510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.244510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854903; longitude = -121.959616; captureRadius = 10; duration = 52; initialDepth = 117.520709; finalDepth = 120.244510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:120.24451 # Seafloor depth:-160.244510 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 52.790935 meters # Minimum depth: 157.520709 meters looking forward 0.000000 meters along route # Maximum depth: 157.520709 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.520709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855353; longitude = -121.959501; captureRadius = 10; duration = 52; initialDepth = 115.642131; finalDepth = 117.520709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:117.520709 # Seafloor depth:-157.520709 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 52.790935 meters # Minimum depth: 155.642131 meters looking forward 0.000000 meters along route # Maximum depth: 155.642131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.642131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855804; longitude = -121.959385; captureRadius = 10; duration = 52; initialDepth = 117.974227; finalDepth = 115.642131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:115.642131 # Seafloor depth:-155.642131 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 52.790935 meters # Minimum depth: 157.974227 meters looking forward 0.000000 meters along route # Maximum depth: 157.974227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.974227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856255; longitude = -121.959270; captureRadius = 10; duration = 52; initialDepth = 110.408733; finalDepth = 117.974227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:117.974227 # Seafloor depth:-157.974227 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 52.790935 meters # Minimum depth: 150.408733 meters looking forward 0.000000 meters along route # Maximum depth: 150.408733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.408733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856705; longitude = -121.959155; captureRadius = 10; duration = 52; initialDepth = 108.951815; finalDepth = 110.408733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:110.408733 # Seafloor depth:-150.408733 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 52.790935 meters # Minimum depth: 148.951815 meters looking forward 0.000000 meters along route # Maximum depth: 148.951815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.951815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857156; longitude = -121.959039; captureRadius = 10; duration = 52; initialDepth = 99.932989; finalDepth = 108.951815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:108.951815 # Seafloor depth:-148.951815 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 52.790935 meters # Minimum depth: 139.932989 meters looking forward 0.000000 meters along route # Maximum depth: 139.932989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.932989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857607; longitude = -121.958924; captureRadius = 10; duration = 52; initialDepth = 95.449848; finalDepth = 99.932989; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:99.932989 # Seafloor depth:-139.932989 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 52.790935 meters # Minimum depth: 135.449848 meters looking forward 0.000000 meters along route # Maximum depth: 135.449848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.449848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858057; longitude = -121.958808; captureRadius = 10; duration = 52; initialDepth = 91.005290; finalDepth = 95.449848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:95.449848 # Seafloor depth:-135.449848 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 52.790935 meters # Minimum depth: 131.005290 meters looking forward 0.000000 meters along route # Maximum depth: 131.005290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.005290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858508; longitude = -121.958693; captureRadius = 10; duration = 52; initialDepth = 85.882408; finalDepth = 91.005290; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:91.00529 # Seafloor depth:-131.005290 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 92 # Segment length 52.790935 meters # Minimum depth: 125.882408 meters looking forward 0.000000 meters along route # Maximum depth: 125.882408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.882408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858988; longitude = -121.958570; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 87.596468; finalDepth = 85.882408; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:85.882408 # Seafloor depth:-125.882408 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 52.790935 meters # Minimum depth: 127.596468 meters looking forward 0.000000 meters along route # Maximum depth: 127.596468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 87.596468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858992; longitude = -121.958776; captureRadius = 10; duration = 52; initialDepth = 92.074707; finalDepth = 87.596468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:87.596468 # Seafloor depth:-127.596468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 52.790935 meters # Minimum depth: 132.074707 meters looking forward 0.000000 meters along route # Maximum depth: 132.074707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.074707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859003; longitude = -121.959348; captureRadius = 10; duration = 52; initialDepth = 97.409717; finalDepth = 92.074707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:92.074707 # Seafloor depth:-132.074707 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 52.790935 meters # Minimum depth: 137.409717 meters looking forward 0.000000 meters along route # Maximum depth: 137.409717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.409717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859015; longitude = -121.959953; captureRadius = 10; duration = 52; initialDepth = 105.383602; finalDepth = 97.409717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:97.409717 # Seafloor depth:-137.409717 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 52.790935 meters # Minimum depth: 145.383602 meters looking forward 0.000000 meters along route # Maximum depth: 145.383602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.383602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859028; longitude = -121.960569; captureRadius = 10; duration = 52; initialDepth = 103.294621; finalDepth = 105.383602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:105.383602 # Seafloor depth:-145.383602 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 52.790935 meters # Minimum depth: 143.294621 meters looking forward 0.000000 meters along route # Maximum depth: 143.294621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.294621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859040; longitude = -121.961186; captureRadius = 10; duration = 52; initialDepth = 101.715763; finalDepth = 103.294621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:103.294621 # Seafloor depth:-143.294621 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 52.790935 meters # Minimum depth: 141.715763 meters looking forward 0.000000 meters along route # Maximum depth: 141.715763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.715763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859052; longitude = -121.961802; captureRadius = 10; duration = 52; initialDepth = 97.789185; finalDepth = 101.715763; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:101.715763 # Seafloor depth:-141.715763 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 91 # Segment length 52.790935 meters # Minimum depth: 137.789185 meters looking forward 0.000000 meters along route # Maximum depth: 137.789185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.789185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859064; longitude = -121.962400; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 98.200445; finalDepth = 97.789185; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:97.789185 # Seafloor depth:-137.789185 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 52.790935 meters # Minimum depth: 138.200445 meters looking forward 0.000000 meters along route # Maximum depth: 138.200445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.200445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858913; longitude = -121.962419; captureRadius = 10; duration = 52; initialDepth = 98.871167; finalDepth = 98.200445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:98.200445 # Seafloor depth:-138.200445 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 52.790935 meters # Minimum depth: 138.871167 meters looking forward 0.000000 meters along route # Maximum depth: 138.871167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.871167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858463; longitude = -121.962477; captureRadius = 10; duration = 52; initialDepth = 100.934745; finalDepth = 98.871167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:98.871167 # Seafloor depth:-138.871167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 52.790935 meters # Minimum depth: 140.934745 meters looking forward 0.000000 meters along route # Maximum depth: 140.934745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.934745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858012; longitude = -121.962535; captureRadius = 10; duration = 52; initialDepth = 102.861344; finalDepth = 100.934745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:100.934745 # Seafloor depth:-140.934745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 52.790935 meters # Minimum depth: 142.861344 meters looking forward 0.000000 meters along route # Maximum depth: 142.861344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.861344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857561; longitude = -121.962593; captureRadius = 10; duration = 52; initialDepth = 104.591555; finalDepth = 102.861344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:102.861344 # Seafloor depth:-142.861344 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 52.790935 meters # Minimum depth: 144.591555 meters looking forward 0.000000 meters along route # Maximum depth: 144.591555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.591555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857111; longitude = -121.962651; captureRadius = 10; duration = 52; initialDepth = 108.484111; finalDepth = 104.591555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:104.591555 # Seafloor depth:-144.591555 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 52.790935 meters # Minimum depth: 148.484111 meters looking forward 0.000000 meters along route # Maximum depth: 148.484111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.484111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856660; longitude = -121.962709; captureRadius = 10; duration = 52; initialDepth = 112.730550; finalDepth = 108.484111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:108.484111 # Seafloor depth:-148.484111 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 52.790935 meters # Minimum depth: 152.730550 meters looking forward 0.000000 meters along route # Maximum depth: 152.730550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.730550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856210; longitude = -121.962767; captureRadius = 10; duration = 52; initialDepth = 115.442936; finalDepth = 112.730550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:112.73055 # Seafloor depth:-152.730550 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 52.790935 meters # Minimum depth: 155.442936 meters looking forward 0.000000 meters along route # Maximum depth: 155.442936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.442936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855759; longitude = -121.962824; captureRadius = 10; duration = 52; initialDepth = 119.664648; finalDepth = 115.442936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:115.442936 # Seafloor depth:-155.442936 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 52.790935 meters # Minimum depth: 159.664648 meters looking forward 0.000000 meters along route # Maximum depth: 159.664648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.664648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855308; longitude = -121.962882; captureRadius = 10; duration = 52; initialDepth = 123.127525; finalDepth = 119.664648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:119.664648 # Seafloor depth:-159.664648 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 90 # Segment length 52.790935 meters # Minimum depth: 163.127525 meters looking forward 0.000000 meters along route # Maximum depth: 163.127525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.127525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854843; longitude = -121.962942; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 126.029104; finalDepth = 123.127525; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:123.127525 # Seafloor depth:-163.127525 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 52.790935 meters # Minimum depth: 166.029104 meters looking forward 0.000000 meters along route # Maximum depth: 166.029104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.029104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854452; longitude = -121.963080; captureRadius = 10; duration = 52; initialDepth = 132.862623; finalDepth = 126.029104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:126.029104 # Seafloor depth:-166.029104 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 52.790935 meters # Minimum depth: 172.862623 meters looking forward 0.000000 meters along route # Maximum depth: 172.862623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.862623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854002; longitude = -121.963240; captureRadius = 10; duration = 52; initialDepth = 139.333315; finalDepth = 132.862623; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:132.862623 # Seafloor depth:-172.862623 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 52.790935 meters # Minimum depth: 179.333315 meters looking forward 0.000000 meters along route # Maximum depth: 179.333315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.333315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853551; longitude = -121.963399; captureRadius = 10; duration = 52; initialDepth = 146.908255; finalDepth = 139.333315; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:139.333315 # Seafloor depth:-179.333315 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 52.790935 meters # Minimum depth: 186.908255 meters looking forward 0.000000 meters along route # Maximum depth: 186.908255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.908255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853100; longitude = -121.963558; captureRadius = 10; duration = 52; initialDepth = 150.220101; finalDepth = 146.908255; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:146.908255 # Seafloor depth:-186.908255 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 52.790935 meters # Minimum depth: 190.220101 meters looking forward 0.000000 meters along route # Maximum depth: 190.220101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.220101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852650; longitude = -121.963718; captureRadius = 10; duration = 52; initialDepth = 158.517169; finalDepth = 150.220101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:150.220101 # Seafloor depth:-190.220101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 52.790935 meters # Minimum depth: 198.517169 meters looking forward 0.000000 meters along route # Maximum depth: 198.517169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 158.517169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852199; longitude = -121.963877; captureRadius = 10; duration = 52; initialDepth = 155.028881; finalDepth = 158.517169; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:158.517169 # Seafloor depth:-198.517169 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 52.790935 meters # Minimum depth: 195.028881 meters looking forward 0.000000 meters along route # Maximum depth: 195.028881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.028881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851749; longitude = -121.964036; captureRadius = 10; duration = 52; initialDepth = 162.363582; finalDepth = 155.028881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:155.028881 # Seafloor depth:-195.028881 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 52.790935 meters # Minimum depth: 202.363582 meters looking forward 0.000000 meters along route # Maximum depth: 202.363582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.363582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851298; longitude = -121.964196; captureRadius = 10; duration = 52; initialDepth = 162.793684; finalDepth = 162.363582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:162.363582 # Seafloor depth:-202.363582 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 52.790935 meters # Minimum depth: 202.793684 meters looking forward 0.000000 meters along route # Maximum depth: 202.793684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.793684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850847; longitude = -121.964355; captureRadius = 10; duration = 52; initialDepth = 162.905017; finalDepth = 162.793684; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:162.793684 # Seafloor depth:-202.793684 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 52.790935 meters # Minimum depth: 202.905017 meters looking forward 0.000000 meters along route # Maximum depth: 202.905017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.905017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850397; longitude = -121.964514; captureRadius = 10; duration = 52; initialDepth = 166.918701; finalDepth = 162.905017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:162.905017 # Seafloor depth:-202.905017 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 89 # Segment length 52.790935 meters # Minimum depth: 206.918701 meters looking forward 0.000000 meters along route # Maximum depth: 206.918701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.918701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849931; longitude = -121.964679; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 170.959782; finalDepth = 166.918701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:166.918701 # Seafloor depth:-206.918701 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 210.959782 meters looking forward 0.000000 meters along route # Maximum depth: 210.959782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.959782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849631; longitude = -121.964748; captureRadius = 10; duration = 52; initialDepth = 175.806684; finalDepth = 170.959782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:170.959782 # Seafloor depth:-210.959782 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 215.806684 meters looking forward 0.000000 meters along route # Maximum depth: 215.806684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.806684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849180; longitude = -121.964851; captureRadius = 10; duration = 52; initialDepth = 183.610504; finalDepth = 175.806684; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:175.806684 # Seafloor depth:-215.806684 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 223.610504 meters looking forward 0.000000 meters along route # Maximum depth: 223.610504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 183.610504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848729; longitude = -121.964954; captureRadius = 10; duration = 52; initialDepth = 180.249749; finalDepth = 183.610504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:183.610504 # Seafloor depth:-223.610504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 220.249749 meters looking forward 0.000000 meters along route # Maximum depth: 220.249749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.249749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848279; longitude = -121.965058; captureRadius = 10; duration = 52; initialDepth = 182.044186; finalDepth = 180.249749; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:180.249749 # Seafloor depth:-220.249749 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 222.044186 meters looking forward 0.000000 meters along route # Maximum depth: 222.044186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.044186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847828; longitude = -121.965161; captureRadius = 10; duration = 52; initialDepth = 179.522437; finalDepth = 182.044186; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:182.044186 # Seafloor depth:-222.044186 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 219.522437 meters looking forward 0.000000 meters along route # Maximum depth: 219.522437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.522437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847378; longitude = -121.965264; captureRadius = 10; duration = 52; initialDepth = 181.727201; finalDepth = 179.522437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:179.522437 # Seafloor depth:-219.522437 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 221.727201 meters looking forward 0.000000 meters along route # Maximum depth: 221.727201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 181.727201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846927; longitude = -121.965367; captureRadius = 10; duration = 52; initialDepth = 186.922953; finalDepth = 181.727201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:181.727201 # Seafloor depth:-221.727201 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 226.922953 meters looking forward 0.000000 meters along route # Maximum depth: 226.922953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.922953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846476; longitude = -121.965470; captureRadius = 10; duration = 52; initialDepth = 191.643752; finalDepth = 186.922953; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:186.922953 # Seafloor depth:-226.922953 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 231.643752 meters looking forward 0.000000 meters along route # Maximum depth: 231.643752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.643752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846026; longitude = -121.965574; captureRadius = 10; duration = 52; initialDepth = 195.324027; finalDepth = 191.643752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:191.643752 # Seafloor depth:-231.643752 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 235.324027 meters looking forward 0.000000 meters along route # Maximum depth: 235.324027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 195.324027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845575; longitude = -121.965677; captureRadius = 10; duration = 52; initialDepth = 195.575287; finalDepth = 195.324027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:195.324027 # Seafloor depth:-235.324027 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 235.575287 meters looking forward 0.000000 meters along route # Maximum depth: 235.575287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 195.575287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845119; longitude = -121.965781; captureRadius = 10; duration = 52; initialDepth = 197.709572; finalDepth = 195.575287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:195.575287 # Seafloor depth:-235.575287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 237.709572 meters looking forward 0.000000 meters along route # Maximum depth: 237.709572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.709572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844674; longitude = -121.965883; captureRadius = 10; duration = 52; initialDepth = 201.159593; finalDepth = 197.709572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:197.709572 # Seafloor depth:-237.709572 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 241.159593 meters looking forward 0.000000 meters along route # Maximum depth: 241.159593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.159593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844223; longitude = -121.965987; captureRadius = 10; duration = 52; initialDepth = 207.514737; finalDepth = 201.159593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:201.159593 # Seafloor depth:-241.159593 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 247.514737 meters looking forward 0.000000 meters along route # Maximum depth: 247.514737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.514737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843773; longitude = -121.966090; captureRadius = 10; duration = 52; initialDepth = 215.165567; finalDepth = 207.514737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:207.514737 # Seafloor depth:-247.514737 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 255.165567 meters looking forward 0.000000 meters along route # Maximum depth: 255.165567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 215.165567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843322; longitude = -121.966193; captureRadius = 10; duration = 52; initialDepth = 219.300407; finalDepth = 215.165567; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:215.165567 # Seafloor depth:-255.165567 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 259.300407 meters looking forward 0.000000 meters along route # Maximum depth: 259.300407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.300407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842871; longitude = -121.966296; captureRadius = 10; duration = 52; initialDepth = 223.057928; finalDepth = 219.300407; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:219.300407 # Seafloor depth:-259.300407 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 263.057928 meters looking forward 0.000000 meters along route # Maximum depth: 263.057928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.057928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842421; longitude = -121.966399; captureRadius = 10; duration = 52; initialDepth = 227.839713; finalDepth = 223.057928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:223.057928 # Seafloor depth:-263.057928 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 267.839713 meters looking forward 0.000000 meters along route # Maximum depth: 267.839713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.839713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841970; longitude = -121.966503; captureRadius = 10; duration = 52; initialDepth = 232.204163; finalDepth = 227.839713; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:227.839713 # Seafloor depth:-267.839713 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 52.790935 meters # Minimum depth: 272.204163 meters looking forward 0.000000 meters along route # Maximum depth: 272.204163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.204163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841519; longitude = -121.966606; captureRadius = 10; duration = 52; initialDepth = 236.207108; finalDepth = 232.204163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:232.204163 # Seafloor depth:-272.204163 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 88 # Segment length 52.790935 meters # Minimum depth: 276.207108 meters looking forward 0.000000 meters along route # Maximum depth: 276.207108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.207108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841039; longitude = -121.966716; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 236.099614; finalDepth = 236.207108; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:236.207108 # Seafloor depth:-276.207108 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 52.790935 meters # Minimum depth: 276.099614 meters looking forward 0.000000 meters along route # Maximum depth: 276.099614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.099614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840829; longitude = -121.966902; captureRadius = 10; duration = 52; initialDepth = 237.556867; finalDepth = 236.099614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:236.099614 # Seafloor depth:-276.099614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 52.790935 meters # Minimum depth: 277.556867 meters looking forward 0.000000 meters along route # Maximum depth: 277.556867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.556867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840451; longitude = -121.967239; captureRadius = 10; duration = 52; initialDepth = 242.822065; finalDepth = 237.556867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:237.556867 # Seafloor depth:-277.556867 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 52.790935 meters # Minimum depth: 282.822065 meters looking forward 0.000000 meters along route # Maximum depth: 282.822065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.822065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840073; longitude = -121.967575; captureRadius = 10; duration = 52; initialDepth = 244.897572; finalDepth = 242.822065; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:242.822065 # Seafloor depth:-282.822065 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 52.790935 meters # Minimum depth: 284.897572 meters looking forward 0.000000 meters along route # Maximum depth: 284.897572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 244.897572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839672; longitude = -121.967932; captureRadius = 10; duration = 52; initialDepth = 247.132187; finalDepth = 244.897572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:244.897572 # Seafloor depth:-284.897572 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 87 # Segment length 52.790935 meters # Minimum depth: 287.132187 meters looking forward 0.000000 meters along route # Maximum depth: 287.132187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 247.132187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839296; longitude = -121.968266; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 247.715163; finalDepth = 247.132187; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:247.132187 # Seafloor depth:-287.132187 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 52.790935 meters # Minimum depth: 287.715163 meters looking forward 0.000000 meters along route # Maximum depth: 287.715163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 247.715163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839176; longitude = -121.968365; captureRadius = 10; duration = 52; initialDepth = 251.078804; finalDepth = 247.715163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:247.715163 # Seafloor depth:-287.715163 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 52.790935 meters # Minimum depth: 291.078804 meters looking forward 0.000000 meters along route # Maximum depth: 291.078804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.078804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838771; longitude = -121.968700; captureRadius = 10; duration = 52; initialDepth = 257.450116; finalDepth = 251.078804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:251.078804 # Seafloor depth:-291.078804 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 52.790935 meters # Minimum depth: 297.450116 meters looking forward 0.000000 meters along route # Maximum depth: 297.450116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.450116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838365; longitude = -121.969035; captureRadius = 10; duration = 52; initialDepth = 268.626320; finalDepth = 257.450116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:257.450116 # Seafloor depth:-297.450116 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 52.790935 meters # Minimum depth: 308.626320 meters looking forward 0.000000 meters along route # Maximum depth: 308.626320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 268.626320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837960; longitude = -121.969370; captureRadius = 10; duration = 52; initialDepth = 272.163159; finalDepth = 268.626320; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:268.62632 # Seafloor depth:-308.626320 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 52.790935 meters # Minimum depth: 312.163159 meters looking forward 0.000000 meters along route # Maximum depth: 312.163159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 272.163159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837554; longitude = -121.969705; captureRadius = 10; duration = 52; initialDepth = 275.216453; finalDepth = 272.163159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:272.163159 # Seafloor depth:-312.163159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 52.790935 meters # Minimum depth: 315.216453 meters looking forward 0.000000 meters along route # Maximum depth: 315.216453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 275.216453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837147; longitude = -121.970041; captureRadius = 10; duration = 52; initialDepth = 280.933405; finalDepth = 275.216453; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:275.216453 # Seafloor depth:-315.216453 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 52.790935 meters # Minimum depth: 320.933405 meters looking forward 0.000000 meters along route # Maximum depth: 320.933405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.933405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836740; longitude = -121.970377; captureRadius = 10; duration = 52; initialDepth = 288.688279; finalDepth = 280.933405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:280.933405 # Seafloor depth:-320.933405 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 52.790935 meters # Minimum depth: 328.688279 meters looking forward 0.000000 meters along route # Maximum depth: 328.688279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.688279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836332; longitude = -121.970713; captureRadius = 10; duration = 52; initialDepth = 295.550252; finalDepth = 288.688279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:288.688279 # Seafloor depth:-328.688279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 52.790935 meters # Minimum depth: 335.550252 meters looking forward 0.000000 meters along route # Maximum depth: 335.550252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.550252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835925; longitude = -121.971050; captureRadius = 10; duration = 52; initialDepth = 299.874062; finalDepth = 295.550252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:295.550252 # Seafloor depth:-335.550252 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 86 # Segment length 52.790935 meters # Minimum depth: 339.874062 meters looking forward 0.000000 meters along route # Maximum depth: 339.874062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.874062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835541; longitude = -121.971367; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 301.284160; finalDepth = 299.874062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:299.874062 # Seafloor depth:-339.874062 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 52.790935 meters # Minimum depth: 341.284160 meters looking forward 0.000000 meters along route # Maximum depth: 341.284160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.284160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835387; longitude = -121.971498; captureRadius = 10; duration = 52; initialDepth = 304.477267; finalDepth = 301.284160; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:301.28416 # Seafloor depth:-341.284160 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 52.790935 meters # Minimum depth: 344.477267 meters looking forward 0.000000 meters along route # Maximum depth: 344.477267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 304.477267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834986; longitude = -121.971838; captureRadius = 10; duration = 52; initialDepth = 307.943287; finalDepth = 304.477267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:304.477267 # Seafloor depth:-344.477267 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 52.790935 meters # Minimum depth: 347.943287 meters looking forward 0.000000 meters along route # Maximum depth: 347.943287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 307.943287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834593; longitude = -121.972171; captureRadius = 10; duration = 52; initialDepth = 309.587791; finalDepth = 307.943287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:307.943287 # Seafloor depth:-347.943287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 52.790935 meters # Minimum depth: 349.587791 meters looking forward 0.000000 meters along route # Maximum depth: 349.587791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.587791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834219; longitude = -121.972488; captureRadius = 10; duration = 52; initialDepth = 311.662453; finalDepth = 309.587791; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:309.587791 # Seafloor depth:-349.587791 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 85 # Segment length 52.790935 meters # Minimum depth: 351.662453 meters looking forward 0.000000 meters along route # Maximum depth: 351.662453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.662453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833844; longitude = -121.972806; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 315.985820; finalDepth = 311.662453; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:311.662453 # Seafloor depth:-351.662453 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 52.790935 meters # Minimum depth: 355.985820 meters looking forward 0.000000 meters along route # Maximum depth: 355.985820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.985820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833453; longitude = -121.973105; captureRadius = 10; duration = 52; initialDepth = 321.714459; finalDepth = 315.985820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:315.98582 # Seafloor depth:-355.985820 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 52.790935 meters # Minimum depth: 361.714459 meters looking forward 0.000000 meters along route # Maximum depth: 361.714459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 321.714459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833048; longitude = -121.973416; captureRadius = 10; duration = 52; initialDepth = 322.338854; finalDepth = 321.714459; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:321.714459 # Seafloor depth:-361.714459 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 52.790935 meters # Minimum depth: 362.338854 meters looking forward 0.000000 meters along route # Maximum depth: 362.338854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.338854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832626; longitude = -121.973740; captureRadius = 10; duration = 52; initialDepth = 323.349881; finalDepth = 322.338854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:322.338854 # Seafloor depth:-362.338854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 52.790935 meters # Minimum depth: 363.349881 meters looking forward 0.000000 meters along route # Maximum depth: 363.349881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.349881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832237; longitude = -121.974038; captureRadius = 10; duration = 52; initialDepth = 326.686569; finalDepth = 323.349881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:323.349881 # Seafloor depth:-363.349881 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 84 # Segment length 52.790935 meters # Minimum depth: 366.686569 meters looking forward 0.000000 meters along route # Maximum depth: 366.686569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.686569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831846; longitude = -121.974338; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 327.180849; finalDepth = 326.686569; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:326.686569 # Seafloor depth:-366.686569 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 52.790935 meters # Minimum depth: 367.180849 meters looking forward 0.000000 meters along route # Maximum depth: 367.180849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.180849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831786; longitude = -121.974369; captureRadius = 10; duration = 52; initialDepth = 330.716923; finalDepth = 327.180849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:327.180849 # Seafloor depth:-367.180849 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 52.790935 meters # Minimum depth: 370.716923 meters looking forward 0.000000 meters along route # Maximum depth: 370.716923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.716923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831336; longitude = -121.974598; captureRadius = 10; duration = 52; initialDepth = 337.334155; finalDepth = 330.716923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:330.716923 # Seafloor depth:-370.716923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 52.790935 meters # Minimum depth: 377.334155 meters looking forward 0.000000 meters along route # Maximum depth: 377.334155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.334155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830885; longitude = -121.974828; captureRadius = 10; duration = 52; initialDepth = 346.857472; finalDepth = 337.334155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:337.334155 # Seafloor depth:-377.334155 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 52.790935 meters # Minimum depth: 386.857472 meters looking forward 0.000000 meters along route # Maximum depth: 386.857472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 346.857472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830434; longitude = -121.975058; captureRadius = 10; duration = 52; initialDepth = 354.803459; finalDepth = 346.857472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:346.857472 # Seafloor depth:-386.857472 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 52.790935 meters # Minimum depth: 394.803459 meters looking forward 0.000000 meters along route # Maximum depth: 394.803459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.803459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830014; longitude = -121.975272; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 359.785452; finalDepth = 354.803459; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:354.803459 # Seafloor depth:-394.803459 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 52.790935 meters # Minimum depth: 399.785452 meters looking forward 0.000000 meters along route # Maximum depth: 399.785452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.785452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829668; longitude = -121.975622; captureRadius = 10; duration = 52; initialDepth = 364.021426; finalDepth = 359.785452; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:359.785452 # Seafloor depth:-399.785452 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 52.790935 meters # Minimum depth: 404.021426 meters looking forward 0.000000 meters along route # Maximum depth: 404.021426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.021426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829308; longitude = -121.975987; captureRadius = 10; duration = 52; initialDepth = 366.564509; finalDepth = 364.021426; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:364.021426 # Seafloor depth:-404.021426 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 52.790935 meters # Minimum depth: 406.564509 meters looking forward 0.000000 meters along route # Maximum depth: 406.564509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.564509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828926; longitude = -121.976374; captureRadius = 10; duration = 52; initialDepth = 367.837914; finalDepth = 366.564509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:366.564509 # Seafloor depth:-406.564509 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 82 # Segment length 52.790935 meters # Minimum depth: 407.837914 meters looking forward 0.000000 meters along route # Maximum depth: 407.837914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.837914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828557; longitude = -121.976747; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 368.994505; finalDepth = 367.837914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:367.837914 # Seafloor depth:-407.837914 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 52.790935 meters # Minimum depth: 408.994505 meters looking forward 0.000000 meters along route # Maximum depth: 408.994505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.994505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828396; longitude = -121.976822; captureRadius = 10; duration = 52; initialDepth = 372.134526; finalDepth = 368.994505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:368.994505 # Seafloor depth:-408.994505 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 52.790935 meters # Minimum depth: 412.134526 meters looking forward 0.000000 meters along route # Maximum depth: 412.134526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.134526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827956; longitude = -121.977028; captureRadius = 10; duration = 52; initialDepth = 372.560027; finalDepth = 372.134526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.134526 # Seafloor depth:-412.134526 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 52.790935 meters # Minimum depth: 412.560027 meters looking forward 0.000000 meters along route # Maximum depth: 412.560027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.560027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827505; longitude = -121.977239; captureRadius = 10; duration = 52; initialDepth = 379.372818; finalDepth = 372.560027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.560027 # Seafloor depth:-412.560027 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 81 # Segment length 52.790935 meters # Minimum depth: 419.372818 meters looking forward 0.000000 meters along route # Maximum depth: 419.372818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.372818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827040; longitude = -121.977457; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 381.450607; finalDepth = 379.372818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:379.372818 # Seafloor depth:-419.372818 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 52.790935 meters # Minimum depth: 421.450607 meters looking forward 0.000000 meters along route # Maximum depth: 421.450607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.450607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826874; longitude = -121.977587; captureRadius = 10; duration = 52; initialDepth = 385.541679; finalDepth = 381.450607; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.450607 # Seafloor depth:-421.450607 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 52.790935 meters # Minimum depth: 425.541679 meters looking forward 0.000000 meters along route # Maximum depth: 425.541679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.541679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826469; longitude = -121.977907; captureRadius = 10; duration = 52; initialDepth = 386.826743; finalDepth = 385.541679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.541679 # Seafloor depth:-425.541679 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 52.790935 meters # Minimum depth: 426.826743 meters looking forward 0.000000 meters along route # Maximum depth: 426.826743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.826743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826063; longitude = -121.978226; captureRadius = 10; duration = 52; initialDepth = 388.726124; finalDepth = 386.826743; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:386.826743 # Seafloor depth:-426.826743 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 52.790935 meters # Minimum depth: 428.726124 meters looking forward 0.000000 meters along route # Maximum depth: 428.726124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.726124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825639; longitude = -121.978560; captureRadius = 10; duration = 52; initialDepth = 390.615004; finalDepth = 388.726124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.726124 # Seafloor depth:-428.726124 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 52.790935 meters # Minimum depth: 430.615004 meters looking forward 0.000000 meters along route # Maximum depth: 430.615004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.615004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825252; longitude = -121.978864; captureRadius = 10; duration = 52; initialDepth = 393.072563; finalDepth = 390.615004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:390.615004 # Seafloor depth:-430.615004 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 80 # Segment length 52.790935 meters # Minimum depth: 433.072563 meters looking forward 0.000000 meters along route # Maximum depth: 433.072563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.072563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824832; longitude = -121.979195; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 393.839826; finalDepth = 393.072563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.072563 # Seafloor depth:-433.072563 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 52.790935 meters # Minimum depth: 433.839826 meters looking forward 0.000000 meters along route # Maximum depth: 433.839826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.839826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824671; longitude = -121.979456; captureRadius = 10; duration = 52; initialDepth = 395.200521; finalDepth = 393.839826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.839826 # Seafloor depth:-433.839826 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 52.790935 meters # Minimum depth: 435.200521 meters looking forward 0.000000 meters along route # Maximum depth: 435.200521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.200521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824395; longitude = -121.979905; captureRadius = 10; duration = 52; initialDepth = 398.021606; finalDepth = 395.200521; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.200521 # Seafloor depth:-435.200521 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 52.790935 meters # Minimum depth: 438.021606 meters looking forward 0.000000 meters along route # Maximum depth: 438.021606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.021606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824096; longitude = -121.980390; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 390.755876; finalDepth = 398.021606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.021606 # Seafloor depth:-438.021606 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 52.790935 meters # Minimum depth: 430.755876 meters looking forward 0.000000 meters along route # Maximum depth: 430.755876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.755876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824266; longitude = -121.980913; captureRadius = 10; duration = 52; initialDepth = 390.395863; finalDepth = 390.755876; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:390.755876 # Seafloor depth:-430.755876 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 52.790935 meters # Minimum depth: 430.395863 meters looking forward 0.000000 meters along route # Maximum depth: 430.395863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.395863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824448; longitude = -121.981474; captureRadius = 10; duration = 52; initialDepth = 388.461040; finalDepth = 390.395863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:390.395863 # Seafloor depth:-430.395863 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 52.790935 meters # Minimum depth: 428.461040 meters looking forward 0.000000 meters along route # Maximum depth: 428.461040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.461040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824631; longitude = -121.982034; captureRadius = 10; duration = 52; initialDepth = 386.702692; finalDepth = 388.461040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.46104 # Seafloor depth:-428.461040 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 52.790935 meters # Minimum depth: 426.702692 meters looking forward 0.000000 meters along route # Maximum depth: 426.702692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.702692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824802; longitude = -121.982560; captureRadius = 10; duration = 52; initialDepth = 390.618404; finalDepth = 386.702692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:386.702692 # Seafloor depth:-426.702692 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 52.790935 meters # Minimum depth: 430.618404 meters looking forward 0.000000 meters along route # Maximum depth: 430.618404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.618404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824977; longitude = -121.983099; captureRadius = 10; duration = 52; initialDepth = 390.257477; finalDepth = 390.618404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:390.618404 # Seafloor depth:-430.618404 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 52.790935 meters # Minimum depth: 430.257477 meters looking forward 0.000000 meters along route # Maximum depth: 430.257477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.257477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825147; longitude = -121.983622; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 386.968025; finalDepth = 390.257477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:390.257477 # Seafloor depth:-430.257477 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 52.790935 meters # Minimum depth: 426.968025 meters looking forward 0.000000 meters along route # Maximum depth: 426.968025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.968025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825252; longitude = -121.983840; captureRadius = 10; duration = 52; initialDepth = 381.111125; finalDepth = 386.968025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:386.968025 # Seafloor depth:-426.968025 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 52.790935 meters # Minimum depth: 421.111125 meters looking forward 0.000000 meters along route # Maximum depth: 421.111125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.111125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825490; longitude = -121.984332; captureRadius = 10; duration = 52; initialDepth = 389.736997; finalDepth = 381.111125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.111125 # Seafloor depth:-421.111125 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 52.790935 meters # Minimum depth: 429.736997 meters looking forward 0.000000 meters along route # Maximum depth: 429.736997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.736997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825733; longitude = -121.984837; captureRadius = 10; duration = 52; initialDepth = 393.769117; finalDepth = 389.736997; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.736997 # Seafloor depth:-429.736997 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 52.790935 meters # Minimum depth: 433.769117 meters looking forward 0.000000 meters along route # Maximum depth: 433.769117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.769117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825977; longitude = -121.985341; captureRadius = 10; duration = 52; initialDepth = 393.476524; finalDepth = 393.769117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.769117 # Seafloor depth:-433.769117 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 52.790935 meters # Minimum depth: 433.476524 meters looking forward 0.000000 meters along route # Maximum depth: 433.476524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.476524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826229; longitude = -121.985864; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 393.253636; finalDepth = 393.476524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.476524 # Seafloor depth:-433.476524 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 52.790935 meters # Minimum depth: 433.253636 meters looking forward 0.000000 meters along route # Maximum depth: 433.253636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.253636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826174; longitude = -121.986014; captureRadius = 10; duration = 52; initialDepth = 394.968443; finalDepth = 393.253636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.253636 # Seafloor depth:-433.253636 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 52.790935 meters # Minimum depth: 434.968443 meters looking forward 0.000000 meters along route # Maximum depth: 434.968443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.968443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825973; longitude = -121.986559; captureRadius = 10; duration = 52; initialDepth = 399.838063; finalDepth = 394.968443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.968443 # Seafloor depth:-434.968443 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 52.790935 meters # Minimum depth: 439.838063 meters looking forward 0.000000 meters along route # Maximum depth: 439.838063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.838063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825782; longitude = -121.987078; captureRadius = 10; duration = 52; initialDepth = 406.569817; finalDepth = 399.838063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.838063 # Seafloor depth:-439.838063 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 52.790935 meters # Minimum depth: 446.569817 meters looking forward 0.000000 meters along route # Maximum depth: 446.569817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.569817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825583; longitude = -121.987620; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 408.100362; finalDepth = 406.569817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:406.569817 # Seafloor depth:-446.569817 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 52.790935 meters # Minimum depth: 448.100362 meters looking forward 0.000000 meters along route # Maximum depth: 448.100362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.100362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825523; longitude = -121.987680; captureRadius = 10; duration = 52; initialDepth = 411.628898; finalDepth = 408.100362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:408.100362 # Seafloor depth:-448.100362 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 52.790935 meters # Minimum depth: 451.628898 meters looking forward 0.000000 meters along route # Maximum depth: 451.628898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.628898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825162; longitude = -121.988041; captureRadius = 10; duration = 52; initialDepth = 417.678928; finalDepth = 411.628898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:411.628898 # Seafloor depth:-451.628898 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 52.790935 meters # Minimum depth: 457.678928 meters looking forward 0.000000 meters along route # Maximum depth: 457.678928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.678928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824780; longitude = -121.988423; captureRadius = 10; duration = 52; initialDepth = 420.682396; finalDepth = 417.678928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.678928 # Seafloor depth:-457.678928 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 52.790935 meters # Minimum depth: 460.682396 meters looking forward 0.000000 meters along route # Maximum depth: 460.682396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.682396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824426; longitude = -121.988778; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 419.442646; finalDepth = 420.682396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:420.682396 # Seafloor depth:-460.682396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 52.790935 meters # Minimum depth: 459.442646 meters looking forward 0.000000 meters along route # Maximum depth: 459.442646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.442646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824216; longitude = -121.989049; captureRadius = 10; duration = 52; initialDepth = 428.236255; finalDepth = 419.442646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.442646 # Seafloor depth:-459.442646 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 52.790935 meters # Minimum depth: 468.236255 meters looking forward 0.000000 meters along route # Maximum depth: 468.236255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.236255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823900; longitude = -121.989456; captureRadius = 10; duration = 52; initialDepth = 432.255517; finalDepth = 428.236255; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:428.236255 # Seafloor depth:-468.236255 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 52.790935 meters # Minimum depth: 472.255517 meters looking forward 0.000000 meters along route # Maximum depth: 472.255517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.255517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823572; longitude = -121.989881; captureRadius = 10; duration = 52; initialDepth = 433.407936; finalDepth = 432.255517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:432.255517 # Seafloor depth:-472.255517 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 52.790935 meters # Minimum depth: 473.407936 meters looking forward 0.000000 meters along route # Maximum depth: 473.407936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.407936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823239; longitude = -121.990310; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 435.392900; finalDepth = 433.407936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:433.407936 # Seafloor depth:-473.407936 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 52.790935 meters # Minimum depth: 475.392900 meters looking forward 0.000000 meters along route # Maximum depth: 475.392900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.392900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823179; longitude = -121.990391; captureRadius = 10; duration = 52; initialDepth = 443.190846; finalDepth = 435.392900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.3929 # Seafloor depth:-475.392900 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 52.790935 meters # Minimum depth: 483.190846 meters looking forward 0.000000 meters along route # Maximum depth: 483.190846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.190846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822852; longitude = -121.990833; captureRadius = 10; duration = 52; initialDepth = 443.979490; finalDepth = 443.190846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.190846 # Seafloor depth:-483.190846 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 52.790935 meters # Minimum depth: 483.979490 meters looking forward 0.000000 meters along route # Maximum depth: 483.979490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.979490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822520; longitude = -121.991282; captureRadius = 10; duration = 52; initialDepth = 443.982010; finalDepth = 443.979490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.97949 # Seafloor depth:-483.979490 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 52.790935 meters # Minimum depth: 483.982010 meters looking forward 0.000000 meters along route # Maximum depth: 483.982010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.982010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822203; longitude = -121.991711; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 451.057510; finalDepth = 443.982010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.98201 # Seafloor depth:-483.982010 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 52.790935 meters # Minimum depth: 491.057510 meters looking forward 0.000000 meters along route # Maximum depth: 491.057510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.057510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821828; longitude = -121.991683; captureRadius = 10; duration = 52; initialDepth = 458.364006; finalDepth = 451.057510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.05751 # Seafloor depth:-491.057510 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 52.790935 meters # Minimum depth: 498.364006 meters looking forward 0.000000 meters along route # Maximum depth: 498.364006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.364006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821377; longitude = -121.991649; captureRadius = 10; duration = 52; initialDepth = 466.298508; finalDepth = 458.364006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.364006 # Seafloor depth:-498.364006 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 52.790935 meters # Minimum depth: 506.298508 meters looking forward 0.000000 meters along route # Maximum depth: 506.298508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.298508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820926; longitude = -121.991616; captureRadius = 10; duration = 52; initialDepth = 474.073639; finalDepth = 466.298508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.298508 # Seafloor depth:-506.298508 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 52.790935 meters # Minimum depth: 514.073639 meters looking forward 0.000000 meters along route # Maximum depth: 514.073639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.073639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820461; longitude = -121.991581; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 476.217520; finalDepth = 474.073639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:474.073639 # Seafloor depth:-514.073639 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 52.790935 meters # Minimum depth: 516.217520 meters looking forward 0.000000 meters along route # Maximum depth: 516.217520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.217520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820248; longitude = -121.991730; captureRadius = 10; duration = 52; initialDepth = 474.637067; finalDepth = 476.217520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.21752 # Seafloor depth:-516.217520 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 52.790935 meters # Minimum depth: 514.637067 meters looking forward 0.000000 meters along route # Maximum depth: 514.637067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.637067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819845; longitude = -121.992012; captureRadius = 10; duration = 52; initialDepth = 479.856504; finalDepth = 474.637067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:474.637067 # Seafloor depth:-514.637067 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 52.790935 meters # Minimum depth: 519.856504 meters looking forward 0.000000 meters along route # Maximum depth: 519.856504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.856504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819439; longitude = -121.992295; captureRadius = 10; duration = 52; initialDepth = 483.885117; finalDepth = 479.856504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.856504 # Seafloor depth:-519.856504 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 52.790935 meters # Minimum depth: 523.885117 meters looking forward 0.000000 meters along route # Maximum depth: 523.885117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.885117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819019; longitude = -121.992589; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 484.182074; finalDepth = 483.885117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.885117 # Seafloor depth:-523.885117 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 52.790935 meters # Minimum depth: 524.182074 meters looking forward 0.000000 meters along route # Maximum depth: 524.182074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.182074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818718; longitude = -121.992771; captureRadius = 10; duration = 52; initialDepth = 485.316156; finalDepth = 484.182074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.182074 # Seafloor depth:-524.182074 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 52.790935 meters # Minimum depth: 525.316156 meters looking forward 0.000000 meters along route # Maximum depth: 525.316156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.316156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818309; longitude = -121.993019; captureRadius = 10; duration = 52; initialDepth = 489.012650; finalDepth = 485.316156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.316156 # Seafloor depth:-525.316156 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 52.790935 meters # Minimum depth: 529.012650 meters looking forward 0.000000 meters along route # Maximum depth: 529.012650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.012650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817877; longitude = -121.993281; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 489.720061; finalDepth = 489.012650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.01265 # Seafloor depth:-529.012650 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 52.790935 meters # Minimum depth: 529.720061 meters looking forward 0.000000 meters along route # Maximum depth: 529.720061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.720061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817772; longitude = -121.993289; captureRadius = 10; duration = 52; initialDepth = 490.752940; finalDepth = 489.720061; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.720061 # Seafloor depth:-529.720061 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 52.790935 meters # Minimum depth: 530.752940 meters looking forward 0.000000 meters along route # Maximum depth: 530.752940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.752940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817321; longitude = -121.993323; captureRadius = 10; duration = 52; initialDepth = 493.059719; finalDepth = 490.752940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.75294 # Seafloor depth:-530.752940 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 52.790935 meters # Minimum depth: 533.059719 meters looking forward 0.000000 meters along route # Maximum depth: 533.059719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.059719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816871; longitude = -121.993357; captureRadius = 10; duration = 52; initialDepth = 499.267548; finalDepth = 493.059719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.059719 # Seafloor depth:-533.059719 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 52.790935 meters # Minimum depth: 539.267548 meters looking forward 0.000000 meters along route # Maximum depth: 539.267548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.267548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816390; longitude = -121.993393; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 499.543813; finalDepth = 499.267548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.267548 # Seafloor depth:-539.267548 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 52.790935 meters # Minimum depth: 539.543813 meters looking forward 0.000000 meters along route # Maximum depth: 539.543813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.543813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816375; longitude = -121.993386; captureRadius = 10; duration = 52; initialDepth = 504.877504; finalDepth = 499.543813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.543813 # Seafloor depth:-539.543813 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 52.790935 meters # Minimum depth: 544.877504 meters looking forward 0.000000 meters along route # Maximum depth: 544.877504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.877504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815946; longitude = -121.993187; captureRadius = 10; duration = 52; initialDepth = 510.371277; finalDepth = 504.877504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.877504 # Seafloor depth:-544.877504 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 52.790935 meters # Minimum depth: 550.371277 meters looking forward 0.000000 meters along route # Maximum depth: 550.371277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.371277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815504; longitude = -121.992982; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 511.225416; finalDepth = 510.371277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.371277 # Seafloor depth:-550.371277 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 52.790935 meters # Minimum depth: 551.225416 meters looking forward 0.000000 meters along route # Maximum depth: 551.225416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.225416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815384; longitude = -121.992974; captureRadius = 10; duration = 52; initialDepth = 512.338485; finalDepth = 511.225416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.225416 # Seafloor depth:-551.225416 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 52.790935 meters # Minimum depth: 552.338485 meters looking forward 0.000000 meters along route # Maximum depth: 552.338485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.338485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814933; longitude = -121.992946; captureRadius = 10; duration = 52; initialDepth = 517.256079; finalDepth = 512.338485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.338485 # Seafloor depth:-552.338485 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 52.790935 meters # Minimum depth: 557.256079 meters looking forward 0.000000 meters along route # Maximum depth: 557.256079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.256079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814482; longitude = -121.992918; captureRadius = 10; duration = 52; initialDepth = 520.825150; finalDepth = 517.256079; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.256079 # Seafloor depth:-557.256079 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 52.790935 meters # Minimum depth: 560.825150 meters looking forward 0.000000 meters along route # Maximum depth: 560.825150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.825150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814002; longitude = -121.992888; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 520.528519; finalDepth = 520.825150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.82515 # Seafloor depth:-560.825150 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 52.790935 meters # Minimum depth: 560.528519 meters looking forward 0.000000 meters along route # Maximum depth: 560.528519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.528519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813942; longitude = -121.992936; captureRadius = 10; duration = 52; initialDepth = 523.933024; finalDepth = 520.528519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.528519 # Seafloor depth:-560.528519 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 52.790935 meters # Minimum depth: 563.933024 meters looking forward 0.000000 meters along route # Maximum depth: 563.933024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.933024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813536; longitude = -121.993261; captureRadius = 10; duration = 52; initialDepth = 525.333313; finalDepth = 523.933024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.933024 # Seafloor depth:-563.933024 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 52.790935 meters # Minimum depth: 565.333313 meters looking forward 0.000000 meters along route # Maximum depth: 565.333313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.333313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813116; longitude = -121.993598; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 524.847588; finalDepth = 525.333313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.333313 # Seafloor depth:-565.333313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 52.790935 meters # Minimum depth: 564.847588 meters looking forward 0.000000 meters along route # Maximum depth: 564.847588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.847588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813057; longitude = -121.993692; captureRadius = 10; duration = 52; initialDepth = 523.169511; finalDepth = 524.847588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.847588 # Seafloor depth:-564.847588 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 52.790935 meters # Minimum depth: 563.169511 meters looking forward 0.000000 meters along route # Maximum depth: 563.169511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.169511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812770; longitude = -121.994148; captureRadius = 10; duration = 52; initialDepth = 525.130173; finalDepth = 523.169511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.169511 # Seafloor depth:-563.169511 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 52.790935 meters # Minimum depth: 565.130173 meters looking forward 0.000000 meters along route # Maximum depth: 565.130173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.130173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812470; longitude = -121.994626; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 527.083143; finalDepth = 525.130173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.130173 # Seafloor depth:-565.130173 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 52.790935 meters # Minimum depth: 567.083143 meters looking forward 0.000000 meters along route # Maximum depth: 567.083143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.083143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812229; longitude = -121.994626; captureRadius = 10; duration = 52; initialDepth = 527.783005; finalDepth = 527.083143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.083143 # Seafloor depth:-567.083143 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 52.790935 meters # Minimum depth: 567.783005 meters looking forward 0.000000 meters along route # Maximum depth: 567.783005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.783005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811749; longitude = -121.994626; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 529.079075; finalDepth = 527.783005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.783005 # Seafloor depth:-567.783005 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 52.790935 meters # Minimum depth: 569.079075 meters looking forward 0.000000 meters along route # Maximum depth: 569.079075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.079075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811508; longitude = -121.994501; captureRadius = 10; duration = 52; initialDepth = 531.728605; finalDepth = 529.079075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.079075 # Seafloor depth:-569.079075 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 52.790935 meters # Minimum depth: 571.728605 meters looking forward 0.000000 meters along route # Maximum depth: 571.728605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.728605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811058; longitude = -121.994266; captureRadius = 10; duration = 52; initialDepth = 536.738953; finalDepth = 531.728605; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.728605 # Seafloor depth:-571.728605 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 52.790935 meters # Minimum depth: 576.738953 meters looking forward 0.000000 meters along route # Maximum depth: 576.738953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.738953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810637; longitude = -121.994047; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 540.016205; finalDepth = 536.738953; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.738953 # Seafloor depth:-576.738953 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 52.790935 meters # Minimum depth: 580.016205 meters looking forward 0.000000 meters along route # Maximum depth: 580.016205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.016205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810202; longitude = -121.994115; captureRadius = 10; duration = 52; initialDepth = 545.391163; finalDepth = 540.016205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.016205 # Seafloor depth:-580.016205 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 52.790935 meters # Minimum depth: 585.391163 meters looking forward 0.000000 meters along route # Maximum depth: 585.391163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.391163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809751; longitude = -121.994185; captureRadius = 10; duration = 52; initialDepth = 548.363225; finalDepth = 545.391163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.391163 # Seafloor depth:-585.391163 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 52.790935 meters # Minimum depth: 588.363225 meters looking forward 0.000000 meters along route # Maximum depth: 588.363225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.363225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809300; longitude = -121.994255; captureRadius = 10; duration = 52; initialDepth = 552.720352; finalDepth = 548.363225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.363225 # Seafloor depth:-588.363225 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 52.790935 meters # Minimum depth: 592.720352 meters looking forward 0.000000 meters along route # Maximum depth: 592.720352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.720352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808835; longitude = -121.994327; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 554.860352; finalDepth = 552.720352; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.720352 # Seafloor depth:-592.720352 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 52.790935 meters # Minimum depth: 594.860352 meters looking forward 0.000000 meters along route # Maximum depth: 594.860352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.860352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808579; longitude = -121.994376; captureRadius = 10; duration = 52; initialDepth = 558.977577; finalDepth = 554.860352; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.860352 # Seafloor depth:-594.860352 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 52.790935 meters # Minimum depth: 598.977577 meters looking forward 0.000000 meters along route # Maximum depth: 598.977577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.977577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808129; longitude = -121.994462; captureRadius = 10; duration = 52; initialDepth = 561.609756; finalDepth = 558.977577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.977577 # Seafloor depth:-598.977577 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 52.790935 meters # Minimum depth: 601.609756 meters looking forward 0.000000 meters along route # Maximum depth: 601.609756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.609756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807663; longitude = -121.994551; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 561.818213; finalDepth = 561.609756; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.609756 # Seafloor depth:-601.609756 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 52.790935 meters # Minimum depth: 601.818213 meters looking forward 0.000000 meters along route # Maximum depth: 601.818213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.818213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807633; longitude = -121.994551; captureRadius = 10; duration = 52; initialDepth = 565.407630; finalDepth = 561.818213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.818213 # Seafloor depth:-601.818213 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 52.790935 meters # Minimum depth: 605.407630 meters looking forward 0.000000 meters along route # Maximum depth: 605.407630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.407630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807137; longitude = -121.994544; captureRadius = 10; duration = 52; initialDepth = 568.817333; finalDepth = 565.407630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.40763 # Seafloor depth:-605.407630 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 52.790935 meters # Minimum depth: 608.817333 meters looking forward 0.000000 meters along route # Maximum depth: 608.817333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.817333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806642; longitude = -121.994538; captureRadius = 10; duration = 52; initialDepth = 572.052449; finalDepth = 568.817333; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.817333 # Seafloor depth:-608.817333 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 52.790935 meters # Minimum depth: 612.052449 meters looking forward 0.000000 meters along route # Maximum depth: 612.052449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.052449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806175; longitude = -121.994532; captureRadius = 10; duration = 52; initialDepth = 574.989190; finalDepth = 572.052449; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.052449 # Seafloor depth:-612.052449 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 52.790935 meters # Minimum depth: 614.989190 meters looking forward 0.000000 meters along route # Maximum depth: 614.989190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.989190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805695; longitude = -121.994526; captureRadius = 10; duration = 52; initialDepth = 578.153150; finalDepth = 574.989190; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.98919 # Seafloor depth:-614.989190 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 52.790935 meters # Minimum depth: 618.153150 meters looking forward 0.000000 meters along route # Maximum depth: 618.153150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.153150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805200; longitude = -121.994520; captureRadius = 10; duration = 52; initialDepth = 581.616531; finalDepth = 578.153150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.15315 # Seafloor depth:-618.153150 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 52.790935 meters # Minimum depth: 621.616531 meters looking forward 0.000000 meters along route # Maximum depth: 621.616531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.616531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804719; longitude = -121.994514; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 582.725994; finalDepth = 581.616531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.616531 # Seafloor depth:-621.616531 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 52.790935 meters # Minimum depth: 622.725994 meters looking forward 0.000000 meters along route # Maximum depth: 622.725994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.725994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804479; longitude = -121.994603; captureRadius = 10; duration = 52; initialDepth = 585.775570; finalDepth = 582.725994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.725994 # Seafloor depth:-622.725994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 52.790935 meters # Minimum depth: 625.775570 meters looking forward 0.000000 meters along route # Maximum depth: 625.775570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.775570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804028; longitude = -121.994771; captureRadius = 10; duration = 52; initialDepth = 588.027176; finalDepth = 585.775570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.77557 # Seafloor depth:-625.775570 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 52.790935 meters # Minimum depth: 628.027176 meters looking forward 0.000000 meters along route # Maximum depth: 628.027176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.027176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803578; longitude = -121.994939; captureRadius = 10; duration = 52; initialDepth = 590.244495; finalDepth = 588.027176; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.027176 # Seafloor depth:-628.027176 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 52.790935 meters # Minimum depth: 630.244495 meters looking forward 0.000000 meters along route # Maximum depth: 630.244495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.244495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803127; longitude = -121.995107; captureRadius = 10; duration = 52; initialDepth = 593.707586; finalDepth = 590.244495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.244495 # Seafloor depth:-630.244495 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 52.790935 meters # Minimum depth: 633.707586 meters looking forward 0.000000 meters along route # Maximum depth: 633.707586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.707586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802676; longitude = -121.995275; captureRadius = 10; duration = 52; initialDepth = 597.604143; finalDepth = 593.707586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.707586 # Seafloor depth:-633.707586 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 52.790935 meters # Minimum depth: 637.604143 meters looking forward 0.000000 meters along route # Maximum depth: 637.604143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.604143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802226; longitude = -121.995443; captureRadius = 10; duration = 52; initialDepth = 602.144033; finalDepth = 597.604143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.604143 # Seafloor depth:-637.604143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 52.790935 meters # Minimum depth: 642.144033 meters looking forward 0.000000 meters along route # Maximum depth: 642.144033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.144033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801775; longitude = -121.995610; captureRadius = 10; duration = 52; initialDepth = 607.203262; finalDepth = 602.144033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.144033 # Seafloor depth:-642.144033 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 52.790935 meters # Minimum depth: 647.203262 meters looking forward 0.000000 meters along route # Maximum depth: 647.203262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.203262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801309; longitude = -121.995784; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 608.056820; finalDepth = 607.203262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.203262 # Seafloor depth:-647.203262 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 52.790935 meters # Minimum depth: 648.056820 meters looking forward 0.000000 meters along route # Maximum depth: 648.056820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.056820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801234; longitude = -121.995804; captureRadius = 10; duration = 52; initialDepth = 613.990989; finalDepth = 608.056820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.05682 # Seafloor depth:-648.056820 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 52.790935 meters # Minimum depth: 653.990989 meters looking forward 0.000000 meters along route # Maximum depth: 653.990989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.990989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800784; longitude = -121.995928; captureRadius = 10; duration = 52; initialDepth = 618.395124; finalDepth = 613.990989; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.990989 # Seafloor depth:-653.990989 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 52.790935 meters # Minimum depth: 658.395124 meters looking forward 0.000000 meters along route # Maximum depth: 658.395124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.395124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800333; longitude = -121.996051; captureRadius = 10; duration = 52; initialDepth = 621.938375; finalDepth = 618.395124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:618.395124 # Seafloor depth:-658.395124 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 52.790935 meters # Minimum depth: 661.938375 meters looking forward 0.000000 meters along route # Maximum depth: 661.938375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.938375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799882; longitude = -121.996175; captureRadius = 10; duration = 52; initialDepth = 623.677015; finalDepth = 621.938375; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.938375 # Seafloor depth:-661.938375 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 52.790935 meters # Minimum depth: 663.677015 meters looking forward 0.000000 meters along route # Maximum depth: 663.677015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.677015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799432; longitude = -121.996298; captureRadius = 10; duration = 52; initialDepth = 629.553176; finalDepth = 623.677015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.677015 # Seafloor depth:-663.677015 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 52.790935 meters # Minimum depth: 669.553176 meters looking forward 0.000000 meters along route # Maximum depth: 669.553176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.553176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798981; longitude = -121.996422; captureRadius = 10; duration = 52; initialDepth = 633.304558; finalDepth = 629.553176; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:629.553176 # Seafloor depth:-669.553176 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 52.790935 meters # Minimum depth: 673.304558 meters looking forward 0.000000 meters along route # Maximum depth: 673.304558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.304558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798531; longitude = -121.996545; captureRadius = 10; duration = 52; initialDepth = 639.796662; finalDepth = 633.304558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.304558 # Seafloor depth:-673.304558 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 52.790935 meters # Minimum depth: 679.796662 meters looking forward 0.000000 meters along route # Maximum depth: 679.796662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.796662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798080; longitude = -121.996669; captureRadius = 10; duration = 52; initialDepth = 646.173117; finalDepth = 639.796662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:639.796662 # Seafloor depth:-679.796662 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 52.790935 meters # Minimum depth: 686.173117 meters looking forward 0.000000 meters along route # Maximum depth: 686.173117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.173117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797629; longitude = -121.996792; captureRadius = 10; duration = 52; initialDepth = 651.247742; finalDepth = 646.173117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.173117 # Seafloor depth:-686.173117 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 52.790935 meters # Minimum depth: 691.247742 meters looking forward 0.000000 meters along route # Maximum depth: 691.247742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.247742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797149; longitude = -121.996924; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 656.786174; finalDepth = 651.247742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.247742 # Seafloor depth:-691.247742 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 52.790935 meters # Minimum depth: 696.786174 meters looking forward 0.000000 meters along route # Maximum depth: 696.786174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.786174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796773; longitude = -121.997182; captureRadius = 10; duration = 52; initialDepth = 663.413434; finalDepth = 656.786174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.786174 # Seafloor depth:-696.786174 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 52.790935 meters # Minimum depth: 703.413434 meters looking forward 0.000000 meters along route # Maximum depth: 703.413434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.413434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796368; longitude = -121.997461; captureRadius = 10; duration = 52; initialDepth = 672.294754; finalDepth = 663.413434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:663.413434 # Seafloor depth:-703.413434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 52.790935 meters # Minimum depth: 712.294754 meters looking forward 0.000000 meters along route # Maximum depth: 712.294754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.294754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795962; longitude = -121.997739; captureRadius = 10; duration = 52; initialDepth = 677.904261; finalDepth = 672.294754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.294754 # Seafloor depth:-712.294754 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 52.790935 meters # Minimum depth: 717.904261 meters looking forward 0.000000 meters along route # Maximum depth: 717.904261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.904261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795557; longitude = -121.998018; captureRadius = 10; duration = 52; initialDepth = 682.384783; finalDepth = 677.904261; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.904261 # Seafloor depth:-717.904261 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 52.790935 meters # Minimum depth: 722.384783 meters looking forward 0.000000 meters along route # Maximum depth: 722.384783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.384783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795151; longitude = -121.998297; captureRadius = 10; duration = 52; initialDepth = 683.664963; finalDepth = 682.384783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.384783 # Seafloor depth:-722.384783 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 52.790935 meters # Minimum depth: 723.664963 meters looking forward 0.000000 meters along route # Maximum depth: 723.664963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.664963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794730; longitude = -121.998586; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 683.546872; finalDepth = 683.664963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.664963 # Seafloor depth:-723.664963 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 52.790935 meters # Minimum depth: 723.546872 meters looking forward 0.000000 meters along route # Maximum depth: 723.546872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.546872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794610; longitude = -121.998664; captureRadius = 10; duration = 52; initialDepth = 682.556939; finalDepth = 683.546872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.546872 # Seafloor depth:-723.546872 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 52.790935 meters # Minimum depth: 722.556939 meters looking forward 0.000000 meters along route # Maximum depth: 722.556939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.556939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794205; longitude = -121.998927; captureRadius = 10; duration = 52; initialDepth = 689.110834; finalDepth = 682.556939; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.556939 # Seafloor depth:-722.556939 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 52.790935 meters # Minimum depth: 729.110834 meters looking forward 0.000000 meters along route # Maximum depth: 729.110834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.110834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793799; longitude = -121.999191; captureRadius = 10; duration = 52; initialDepth = 686.133827; finalDepth = 689.110834; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.110834 # Seafloor depth:-729.110834 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 52.790935 meters # Minimum depth: 726.133827 meters looking forward 0.000000 meters along route # Maximum depth: 726.133827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.133827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793394; longitude = -121.999454; captureRadius = 10; duration = 52; initialDepth = 694.332062; finalDepth = 686.133827; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.133827 # Seafloor depth:-726.133827 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 52.790935 meters # Minimum depth: 734.332062 meters looking forward 0.000000 meters along route # Maximum depth: 734.332062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.332062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792988; longitude = -121.999718; captureRadius = 10; duration = 52; initialDepth = 704.771233; finalDepth = 694.332062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.332062 # Seafloor depth:-734.332062 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 52.790935 meters # Minimum depth: 744.771233 meters looking forward 0.000000 meters along route # Maximum depth: 744.771233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.771233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792582; longitude = -121.999981; captureRadius = 10; duration = 52; initialDepth = 720.028793; finalDepth = 704.771233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.771233 # Seafloor depth:-744.771233 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 52.790935 meters # Minimum depth: 760.028793 meters looking forward 0.000000 meters along route # Maximum depth: 760.028793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.028793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792170; longitude = -122.000249; captureRadius = 10; duration = 52; initialDepth = 723.290027; finalDepth = 720.028793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.028793 # Seafloor depth:-760.028793 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 52.790935 meters # Minimum depth: 763.290027 meters looking forward 0.000000 meters along route # Maximum depth: 763.290027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.290027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791739; longitude = -122.000529; captureRadius = 10; duration = 52; initialDepth = 705.093994; finalDepth = 723.290027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:723.290027 # Seafloor depth:-763.290027 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 52.790935 meters # Minimum depth: 745.093994 meters looking forward 0.000000 meters along route # Maximum depth: 745.093994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.093994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791336; longitude = -122.000791; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 703.914018; finalDepth = 705.093994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.093994 # Seafloor depth:-745.093994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 52.790935 meters # Minimum depth: 743.914018 meters looking forward 0.000000 meters along route # Maximum depth: 743.914018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.914018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791321; longitude = -122.000812; captureRadius = 10; duration = 52; initialDepth = 694.834696; finalDepth = 703.914018; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.914018 # Seafloor depth:-743.914018 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 52.790935 meters # Minimum depth: 734.834696 meters looking forward 0.000000 meters along route # Maximum depth: 734.834696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.834696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790996; longitude = -122.001258; captureRadius = 10; duration = 52; initialDepth = 715.085805; finalDepth = 694.834696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.834696 # Seafloor depth:-734.834696 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 52.790935 meters # Minimum depth: 755.085805 meters looking forward 0.000000 meters along route # Maximum depth: 755.085805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.085805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790690; longitude = -122.001678; captureRadius = 10; duration = 52; initialDepth = 725.532736; finalDepth = 715.085805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.085805 # Seafloor depth:-755.085805 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 52.790935 meters # Minimum depth: 765.532736 meters looking forward 0.000000 meters along route # Maximum depth: 765.532736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.532736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790374; longitude = -122.002111; captureRadius = 10; duration = 52; initialDepth = 738.182220; finalDepth = 725.532736; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:725.532736 # Seafloor depth:-765.532736 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 52.790935 meters # Minimum depth: 778.182220 meters looking forward 0.000000 meters along route # Maximum depth: 778.182220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.182220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790044; longitude = -122.002565; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 739.257838; finalDepth = 738.182220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:738.18222 # Seafloor depth:-778.182220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 52.790935 meters # Minimum depth: 779.257838 meters looking forward 0.000000 meters along route # Maximum depth: 779.257838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.257838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789865; longitude = -122.002715; captureRadius = 10; duration = 52; initialDepth = 738.278149; finalDepth = 739.257838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:739.257838 # Seafloor depth:-779.257838 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 52.790935 meters # Minimum depth: 778.278149 meters looking forward 0.000000 meters along route # Maximum depth: 778.278149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.278149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789463; longitude = -122.003051; captureRadius = 10; duration = 52; initialDepth = 731.960556; finalDepth = 738.278149; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:738.278149 # Seafloor depth:-778.278149 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 52.790935 meters # Minimum depth: 771.960556 meters looking forward 0.000000 meters along route # Maximum depth: 771.960556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.960556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789083; longitude = -122.003369; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 737.153259; finalDepth = 731.960556; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:731.960556 # Seafloor depth:-771.960556 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 52.790935 meters # Minimum depth: 777.153259 meters looking forward 0.000000 meters along route # Maximum depth: 777.153259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.153259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788752; longitude = -122.003739; captureRadius = 10; duration = 52; initialDepth = 759.267333; finalDepth = 737.153259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:737.153259 # Seafloor depth:-777.153259 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 52.790935 meters # Minimum depth: 799.267333 meters looking forward 0.000000 meters along route # Maximum depth: 799.267333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.267333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788416; longitude = -122.004116; captureRadius = 10; duration = 52; initialDepth = 784.588304; finalDepth = 759.267333; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:759.267333 # Seafloor depth:-799.267333 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 52.790935 meters # Minimum depth: 825.821240 meters looking forward 0.000000 meters along route # Maximum depth: 825.821240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.588304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788076; longitude = -122.004496; captureRadius = 10; duration = 52; initialDepth = 806.110733; finalDepth = 784.588304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2329359999999 # Actual altitude: 50 # Commanded vehicle depth:784.588304 # Seafloor depth:-825.821240 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 52.790935 meters # Minimum depth: 846.110733 meters looking forward 0.000000 meters along route # Maximum depth: 846.110733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.110733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787731; longitude = -122.004882; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 806.648516; finalDepth = 806.110733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2329359999999 # Actual altitude: 50 # Commanded vehicle depth:806.110733 # Seafloor depth:-846.110733 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 52.790935 meters # Minimum depth: 846.648516 meters looking forward 0.000000 meters along route # Maximum depth: 846.648516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.648516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787716; longitude = -122.004892; captureRadius = 10; duration = 52; initialDepth = 810.858783; finalDepth = 806.648516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.648516 # Seafloor depth:-846.648516 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 52.790935 meters # Minimum depth: 850.858783 meters looking forward 0.000000 meters along route # Maximum depth: 850.858783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.858783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787310; longitude = -122.005163; captureRadius = 10; duration = 52; initialDepth = 810.040814; finalDepth = 810.858783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:810.858783 # Seafloor depth:-850.858783 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 52.790935 meters # Minimum depth: 850.040814 meters looking forward 0.000000 meters along route # Maximum depth: 850.040814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.040814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786905; longitude = -122.005433; captureRadius = 10; duration = 52; initialDepth = 808.421037; finalDepth = 810.040814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:810.040814 # Seafloor depth:-850.040814 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 52.790935 meters # Minimum depth: 848.421037 meters looking forward 0.000000 meters along route # Maximum depth: 848.421037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.421037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786499; longitude = -122.005704; captureRadius = 10; duration = 52; initialDepth = 808.002243; finalDepth = 808.421037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.421037 # Seafloor depth:-848.421037 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 52.790935 meters # Minimum depth: 848.002243 meters looking forward 0.000000 meters along route # Maximum depth: 848.002243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.002243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786079; longitude = -122.005984; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 810.898145; finalDepth = 808.002243; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.002243 # Seafloor depth:-848.002243 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 52.790935 meters # Minimum depth: 850.898145 meters looking forward 0.000000 meters along route # Maximum depth: 850.898145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.898145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785823; longitude = -122.006039; captureRadius = 10; duration = 52; initialDepth = 820.894345; finalDepth = 810.898145; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:810.898145 # Seafloor depth:-850.898145 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 52.790935 meters # Minimum depth: 860.894345 meters looking forward 0.000000 meters along route # Maximum depth: 860.894345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.894345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785373; longitude = -122.006137; captureRadius = 10; duration = 52; initialDepth = 825.276357; finalDepth = 820.894345; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:820.894345 # Seafloor depth:-860.894345 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 52.790935 meters # Minimum depth: 865.276357 meters looking forward 0.000000 meters along route # Maximum depth: 865.276357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 825.276357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784922; longitude = -122.006234; captureRadius = 10; duration = 52; initialDepth = 840.218141; finalDepth = 825.276357; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:825.276357 # Seafloor depth:-865.276357 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 52.790935 meters # Minimum depth: 880.218141 meters looking forward 0.000000 meters along route # Maximum depth: 880.218141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 840.218141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784471; longitude = -122.006331; captureRadius = 10; duration = 52; initialDepth = 848.893326; finalDepth = 840.218141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:840.218141 # Seafloor depth:-880.218141 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 52.790935 meters # Minimum depth: 888.893326 meters looking forward 0.000000 meters along route # Maximum depth: 888.893326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.893326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784006; longitude = -122.006432; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 854.401835; finalDepth = 848.893326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:848.893326 # Seafloor depth:-888.893326 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 52.790935 meters # Minimum depth: 894.401835 meters looking forward 0.000000 meters along route # Maximum depth: 894.401835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.401835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783615; longitude = -122.006558; captureRadius = 10; duration = 52; initialDepth = 866.923292; finalDepth = 854.401835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:854.401835 # Seafloor depth:-894.401835 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 52.790935 meters # Minimum depth: 906.923292 meters looking forward 0.000000 meters along route # Maximum depth: 906.923292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.923292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783165; longitude = -122.006703; captureRadius = 10; duration = 52; initialDepth = 877.271993; finalDepth = 866.923292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.923292 # Seafloor depth:-906.923292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 52.790935 meters # Minimum depth: 917.271993 meters looking forward 0.000000 meters along route # Maximum depth: 917.271993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 877.271993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782714; longitude = -122.006848; captureRadius = 10; duration = 52; initialDepth = 899.558585; finalDepth = 877.271993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:877.271993 # Seafloor depth:-917.271993 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 52.790935 meters # Minimum depth: 939.558585 meters looking forward 0.000000 meters along route # Maximum depth: 939.558585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.558585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782263; longitude = -122.006992; captureRadius = 10; duration = 52; initialDepth = 915.344356; finalDepth = 899.558585; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:899.558585 # Seafloor depth:-939.558585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 52.790935 meters # Minimum depth: 955.344356 meters looking forward 0.000000 meters along route # Maximum depth: 955.344356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.344356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781797; longitude = -122.007142; captureRadius = 10; duration = 52; initialDepth = 929.151611; finalDepth = 915.344356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:915.344356 # Seafloor depth:-955.344356 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 52.790935 meters # Minimum depth: 969.151611 meters looking forward 0.000000 meters along route # Maximum depth: 969.151611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.151611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781332; longitude = -122.007292; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 930.820435; finalDepth = 929.151611; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:929.151611 # Seafloor depth:-969.151611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 52.790935 meters # Minimum depth: 970.820435 meters looking forward 0.000000 meters along route # Maximum depth: 970.820435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.820435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781182; longitude = -122.007563; captureRadius = 10; duration = 52; initialDepth = 936.419427; finalDepth = 930.820435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:930.820435 # Seafloor depth:-970.820435 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 52.790935 meters # Minimum depth: 976.419427 meters looking forward 0.000000 meters along route # Maximum depth: 976.419427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.419427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780911; longitude = -122.008052; captureRadius = 10; duration = 52; initialDepth = 938.364751; finalDepth = 936.419427; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:936.419427 # Seafloor depth:-976.419427 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 52.790935 meters # Minimum depth: 978.364751 meters looking forward 0.000000 meters along route # Maximum depth: 978.364751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.364751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780640; longitude = -122.008543; captureRadius = 10; duration = 52; initialDepth = 945.399576; finalDepth = 938.364751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:938.364751 # Seafloor depth:-978.364751 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 52.790935 meters # Minimum depth: 985.399576 meters looking forward 0.000000 meters along route # Maximum depth: 985.399576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.399576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780361; longitude = -122.009048; captureRadius = 10; duration = 52; initialDepth = 953.029824; finalDepth = 945.399576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:945.399576 # Seafloor depth:-985.399576 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 52.790935 meters # Minimum depth: 993.029824 meters looking forward 0.000000 meters along route # Maximum depth: 993.029824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.029824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780100; longitude = -122.009518; captureRadius = 10; duration = 52; initialDepth = 962.157163; finalDepth = 953.029824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:953.029824 # Seafloor depth:-993.029824 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 52.790935 meters # Minimum depth: 1002.157163 meters looking forward 0.000000 meters along route # Maximum depth: 1002.157163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.157163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779830; longitude = -122.010007; captureRadius = 10; duration = 52; initialDepth = 967.590117; finalDepth = 962.157163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:962.157163 # Seafloor depth:-1002.157163 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 52.790935 meters # Minimum depth: 1007.590117 meters looking forward 0.000000 meters along route # Maximum depth: 1007.590117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.590117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779554; longitude = -122.010505; captureRadius = 10; duration = 52; initialDepth = 971.243816; finalDepth = 967.590117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:967.590117 # Seafloor depth:-1007.590117 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 52.790935 meters # Minimum depth: 1011.243816 meters looking forward 0.000000 meters along route # Maximum depth: 1011.243816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.243816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779275; longitude = -122.011009; captureRadius = 10; duration = 52; initialDepth = 970.475829; finalDepth = 971.243816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:971.243816 # Seafloor depth:-1011.243816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 52.790935 meters # Minimum depth: 1010.475829 meters looking forward 0.000000 meters along route # Maximum depth: 1010.475829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.475829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779019; longitude = -122.011473; captureRadius = 10; duration = 52; initialDepth = 969.909786; finalDepth = 970.475829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:970.475829 # Seafloor depth:-1010.475829 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 52.790935 meters # Minimum depth: 1009.909786 meters looking forward 0.000000 meters along route # Maximum depth: 1009.909786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.909786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778748; longitude = -122.011962; captureRadius = 10; duration = 52; initialDepth = 969.055462; finalDepth = 969.909786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:969.909786 # Seafloor depth:-1009.909786 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 52.790935 meters # Minimum depth: 1009.055462 meters looking forward 0.000000 meters along route # Maximum depth: 1009.055462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.055462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778469; longitude = -122.012467; captureRadius = 10; duration = 52; initialDepth = 966.250516; finalDepth = 969.055462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:969.055462 # Seafloor depth:-1009.055462 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 52.790935 meters # Minimum depth: 1006.250516 meters looking forward 0.000000 meters along route # Maximum depth: 1006.250516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.250516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778208; longitude = -122.012939; captureRadius = 10; duration = 52; initialDepth = 963.214798; finalDepth = 966.250516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:966.250516 # Seafloor depth:-1006.250516 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # 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 52.790935 meters # Minimum depth: 1003.214798 meters looking forward 0.000000 meters along route # Maximum depth: 1003.214798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.214798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777952; longitude = -122.013401; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 963.104210; finalDepth = 963.214798; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:963.214798 # Seafloor depth:-1003.214798 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 52.790935 meters # Minimum depth: 1003.104210 meters looking forward 0.000000 meters along route # Maximum depth: 1003.104210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.104210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777946; longitude = -122.013363; captureRadius = 10; duration = 52; initialDepth = 962.863654; finalDepth = 963.104210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:963.10421 # Seafloor depth:-1003.104210 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 52.790935 meters # Minimum depth: 1002.863654 meters looking forward 0.000000 meters along route # Maximum depth: 1002.863654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.863654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777858; longitude = -122.012803; captureRadius = 10; duration = 52; initialDepth = 963.906268; finalDepth = 962.863654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:962.863654 # Seafloor depth:-1002.863654 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 52.790935 meters # Minimum depth: 1003.906268 meters looking forward 0.000000 meters along route # Maximum depth: 1003.906268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.906268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777770; longitude = -122.012242; captureRadius = 10; duration = 52; initialDepth = 964.357842; finalDepth = 963.906268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:963.906268 # Seafloor depth:-1003.906268 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 52.790935 meters # Minimum depth: 1004.357842 meters looking forward 0.000000 meters along route # Maximum depth: 1004.357842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.357842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777683; longitude = -122.011682; captureRadius = 10; duration = 52; initialDepth = 965.202606; finalDepth = 964.357842; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:964.357842 # Seafloor depth:-1004.357842 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 52.790935 meters # Minimum depth: 1005.202606 meters looking forward 0.000000 meters along route # Maximum depth: 1005.202606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.202606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777592; longitude = -122.011103; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 966.147280; finalDepth = 965.202606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:965.202606 # Seafloor depth:-1005.202606 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 52.790935 meters # Minimum depth: 1006.147280 meters looking forward 0.000000 meters along route # Maximum depth: 1006.147280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.147280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777803; longitude = -122.010729; captureRadius = 10; duration = 52; initialDepth = 965.905802; finalDepth = 966.147280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:966.14728 # Seafloor depth:-1006.147280 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 52.790935 meters # Minimum depth: 1005.905802 meters looking forward 0.000000 meters along route # Maximum depth: 1005.905802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.905802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778073; longitude = -122.010252; captureRadius = 10; duration = 52; initialDepth = 965.621217; finalDepth = 965.905802; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:965.905802 # Seafloor depth:-1005.905802 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 52.790935 meters # Minimum depth: 1005.621217 meters looking forward 0.000000 meters along route # Maximum depth: 1005.621217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.621217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778343; longitude = -122.009773; captureRadius = 10; duration = 52; initialDepth = 962.599283; finalDepth = 965.621217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:965.621217 # Seafloor depth:-1005.621217 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 52.790935 meters # Minimum depth: 1002.599283 meters looking forward 0.000000 meters along route # Maximum depth: 1002.599283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.599283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778613; longitude = -122.009295; captureRadius = 10; duration = 52; initialDepth = 956.877528; finalDepth = 962.599283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:962.599283 # Seafloor depth:-1002.599283 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 52.790935 meters # Minimum depth: 996.877528 meters looking forward 0.000000 meters along route # Maximum depth: 996.877528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.877528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778884; longitude = -122.008816; captureRadius = 10; duration = 52; initialDepth = 949.752169; finalDepth = 956.877528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:956.877528 # Seafloor depth:-996.877528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 52.790935 meters # Minimum depth: 989.752169 meters looking forward 0.000000 meters along route # Maximum depth: 989.752169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.752169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779164; longitude = -122.008319; captureRadius = 10; duration = 52; initialDepth = 943.057097; finalDepth = 949.752169; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:949.752169 # Seafloor depth:-989.752169 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 52.790935 meters # Minimum depth: 983.057097 meters looking forward 0.000000 meters along route # Maximum depth: 983.057097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.057097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779424; longitude = -122.007859; captureRadius = 10; duration = 52; initialDepth = 937.002916; finalDepth = 943.057097; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:943.057097 # Seafloor depth:-983.057097 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 52.790935 meters # Minimum depth: 977.002916 meters looking forward 0.000000 meters along route # Maximum depth: 977.002916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.002916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779702; longitude = -122.007367; captureRadius = 10; duration = 52; initialDepth = 931.294926; finalDepth = 937.002916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:937.002916 # Seafloor depth:-977.002916 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 52.790935 meters # Minimum depth: 971.294926 meters looking forward 0.000000 meters along route # Maximum depth: 971.294926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.294926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779987; longitude = -122.006862; captureRadius = 10; duration = 52; initialDepth = 927.029861; finalDepth = 931.294926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:931.294926 # Seafloor depth:-971.294926 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 52.790935 meters # Minimum depth: 967.029861 meters looking forward 0.000000 meters along route # Maximum depth: 967.029861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.029861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780251; longitude = -122.006395; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 926.200078; finalDepth = 927.029861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:927.029861 # Seafloor depth:-967.029861 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 52.790935 meters # Minimum depth: 966.200078 meters looking forward 0.000000 meters along route # Maximum depth: 966.200078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.200078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780430; longitude = -122.006246; captureRadius = 10; duration = 52; initialDepth = 923.779188; finalDepth = 926.200078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:926.200078 # Seafloor depth:-966.200078 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 52.790935 meters # Minimum depth: 963.779188 meters looking forward 0.000000 meters along route # Maximum depth: 963.779188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.779188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780834; longitude = -122.005909; captureRadius = 10; duration = 52; initialDepth = 917.116849; finalDepth = 923.779188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:923.779188 # Seafloor depth:-963.779188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 52.790935 meters # Minimum depth: 957.116849 meters looking forward 0.000000 meters along route # Maximum depth: 957.116849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.116849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781238; longitude = -122.005573; captureRadius = 10; duration = 52; initialDepth = 906.981372; finalDepth = 917.116849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:917.116849 # Seafloor depth:-957.116849 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 52.790935 meters # Minimum depth: 946.981372 meters looking forward 0.000000 meters along route # Maximum depth: 946.981372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.981372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781641; longitude = -122.005237; captureRadius = 10; duration = 52; initialDepth = 900.609039; finalDepth = 906.981372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:906.981372 # Seafloor depth:-946.981372 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 52.790935 meters # Minimum depth: 940.609039 meters looking forward 0.000000 meters along route # Maximum depth: 940.609039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.609039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782023; longitude = -122.004919; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 900.307765; finalDepth = 900.609039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:900.609039 # Seafloor depth:-940.609039 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 52.790935 meters # Minimum depth: 940.307765 meters looking forward 0.000000 meters along route # Maximum depth: 940.307765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.307765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782041; longitude = -122.004901; captureRadius = 10; duration = 52; initialDepth = 899.314044; finalDepth = 900.307765; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:900.307765 # Seafloor depth:-940.307765 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 52.790935 meters # Minimum depth: 939.314044 meters looking forward 0.000000 meters along route # Maximum depth: 939.314044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.314044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782398; longitude = -122.004536; captureRadius = 10; duration = 52; initialDepth = 896.229660; finalDepth = 899.314044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:899.314044 # Seafloor depth:-939.314044 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 52.790935 meters # Minimum depth: 936.229660 meters looking forward 0.000000 meters along route # Maximum depth: 936.229660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 896.229660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782774; longitude = -122.004153; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 894.883490; finalDepth = 896.229660; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:896.22966 # Seafloor depth:-936.229660 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 52.790935 meters # Minimum depth: 934.883490 meters looking forward 0.000000 meters along route # Maximum depth: 934.883490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 894.883490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782877; longitude = -122.004004; captureRadius = 10; duration = 52; initialDepth = 889.304906; finalDepth = 894.883490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:894.88349 # Seafloor depth:-934.883490 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 52.790935 meters # Minimum depth: 929.304906 meters looking forward 0.000000 meters along route # Maximum depth: 929.304906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 889.304906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783186; longitude = -122.003555; captureRadius = 10; duration = 52; initialDepth = 878.871282; finalDepth = 889.304906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:889.304906 # Seafloor depth:-929.304906 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 52.790935 meters # Minimum depth: 918.871282 meters looking forward 0.000000 meters along route # Maximum depth: 918.871282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 878.871282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783495; longitude = -122.003107; captureRadius = 10; duration = 52; initialDepth = 867.752365; finalDepth = 878.871282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:878.871282 # Seafloor depth:-918.871282 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 52.790935 meters # Minimum depth: 907.752365 meters looking forward 0.000000 meters along route # Maximum depth: 907.752365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.752365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783804; longitude = -122.002659; captureRadius = 10; duration = 52; initialDepth = 858.520050; finalDepth = 867.752365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.752365 # Seafloor depth:-907.752365 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 52.790935 meters # Minimum depth: 898.520050 meters looking forward 0.000000 meters along route # Maximum depth: 898.520050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.520050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784126; longitude = -122.002192; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 856.609129; finalDepth = 858.520050; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:858.52005 # Seafloor depth:-898.520050 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 52.790935 meters # Minimum depth: 896.609129 meters looking forward 0.000000 meters along route # Maximum depth: 896.609129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.609129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784291; longitude = -122.001986; captureRadius = 10; duration = 52; initialDepth = 853.882073; finalDepth = 856.609129; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:856.609129 # Seafloor depth:-896.609129 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 52.790935 meters # Minimum depth: 893.882073 meters looking forward 0.000000 meters along route # Maximum depth: 893.882073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.882073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784652; longitude = -122.001538; captureRadius = 10; duration = 52; initialDepth = 838.238179; finalDepth = 853.882073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:853.882073 # Seafloor depth:-893.882073 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 52.790935 meters # Minimum depth: 878.238179 meters looking forward 0.000000 meters along route # Maximum depth: 878.238179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 838.238179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785013; longitude = -122.001090; captureRadius = 10; duration = 52; initialDepth = 828.715057; finalDepth = 838.238179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:838.238179 # Seafloor depth:-878.238179 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 52.790935 meters # Minimum depth: 868.715057 meters looking forward 0.000000 meters along route # Maximum depth: 868.715057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 828.715057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785358; longitude = -122.000660; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 817.999188; finalDepth = 828.715057; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:828.715057 # Seafloor depth:-868.715057 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 52.790935 meters # Minimum depth: 857.999188 meters looking forward 0.000000 meters along route # Maximum depth: 857.999188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 817.999188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785598; longitude = -122.000463; captureRadius = 10; duration = 52; initialDepth = 794.726181; finalDepth = 817.999188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:817.999188 # Seafloor depth:-857.999188 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 52.790935 meters # Minimum depth: 834.726181 meters looking forward 0.000000 meters along route # Maximum depth: 834.726181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.726181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786018; longitude = -122.000118; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 787.006313; finalDepth = 794.726181; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.726181 # Seafloor depth:-834.726181 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 52.790935 meters # Minimum depth: 827.006313 meters looking forward 0.000000 meters along route # Maximum depth: 827.006313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.006313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786384; longitude = -121.999913; captureRadius = 10; duration = 52; initialDepth = 783.029096; finalDepth = 787.006313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.006313 # Seafloor depth:-827.006313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 52.790935 meters # Minimum depth: 823.029096 meters looking forward 0.000000 meters along route # Maximum depth: 823.029096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.029096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786815; longitude = -121.999671; captureRadius = 10; duration = 52; initialDepth = 779.756897; finalDepth = 783.029096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:783.029096 # Seafloor depth:-823.029096 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 52.790935 meters # Minimum depth: 819.756897 meters looking forward 0.000000 meters along route # Maximum depth: 819.756897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.756897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787250; longitude = -121.999427; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 779.423331; finalDepth = 779.756897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:779.756897 # Seafloor depth:-819.756897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 52.790935 meters # Minimum depth: 819.423331 meters looking forward 0.000000 meters along route # Maximum depth: 819.423331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.423331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787265; longitude = -121.999421; captureRadius = 10; duration = 52; initialDepth = 776.098268; finalDepth = 779.423331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:779.423331 # Seafloor depth:-819.423331 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 52.790935 meters # Minimum depth: 816.098268 meters looking forward 0.000000 meters along route # Maximum depth: 816.098268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 776.098268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787716; longitude = -121.999232; captureRadius = 10; duration = 52; initialDepth = 766.599147; finalDepth = 776.098268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:776.098268 # Seafloor depth:-816.098268 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 52.790935 meters # Minimum depth: 806.599147 meters looking forward 0.000000 meters along route # Maximum depth: 806.599147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 766.599147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788166; longitude = -121.999044; captureRadius = 10; duration = 52; initialDepth = 743.423515; finalDepth = 766.599147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:766.599147 # Seafloor depth:-806.599147 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 52.790935 meters # Minimum depth: 783.423515 meters looking forward 0.000000 meters along route # Maximum depth: 783.423515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.423515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788636; longitude = -121.998848; captureRadius = 10; duration = 52; initialDepth = 748.109665; finalDepth = 743.423515; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:743.423515 # Seafloor depth:-783.423515 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 52.790935 meters # Minimum depth: 788.109665 meters looking forward 0.000000 meters along route # Maximum depth: 788.109665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.109665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789083; longitude = -121.998661; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 747.573693; finalDepth = 748.109665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:748.109665 # Seafloor depth:-788.109665 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 52.790935 meters # Minimum depth: 787.573693 meters looking forward 0.000000 meters along route # Maximum depth: 787.573693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.573693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789203; longitude = -121.998665; captureRadius = 10; duration = 52; initialDepth = 746.573687; finalDepth = 747.573693; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:747.573693 # Seafloor depth:-787.573693 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 52.790935 meters # Minimum depth: 786.573687 meters looking forward 0.000000 meters along route # Maximum depth: 786.573687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.573687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789653; longitude = -121.998681; captureRadius = 10; duration = 52; initialDepth = 736.716354; finalDepth = 746.573687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:746.573687 # Seafloor depth:-786.573687 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 52.790935 meters # Minimum depth: 776.716354 meters looking forward 0.000000 meters along route # Maximum depth: 776.716354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.716354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790134; longitude = -121.998698; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 737.654020; finalDepth = 736.716354; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:736.716354 # Seafloor depth:-776.716354 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 52.790935 meters # Minimum depth: 777.654020 meters looking forward 0.000000 meters along route # Maximum depth: 777.654020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.654020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790465; longitude = -121.998786; captureRadius = 10; duration = 52; initialDepth = 734.060494; finalDepth = 737.654020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:737.65402 # Seafloor depth:-777.654020 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 52.790935 meters # Minimum depth: 774.060494 meters looking forward 0.000000 meters along route # Maximum depth: 774.060494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.060494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790915; longitude = -121.998907; captureRadius = 10; duration = 52; initialDepth = 735.698303; finalDepth = 734.060494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:734.060494 # Seafloor depth:-774.060494 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 52.790935 meters # Minimum depth: 775.698303 meters looking forward 0.000000 meters along route # Maximum depth: 775.698303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.698303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791396; longitude = -121.999035; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 728.433044; finalDepth = 735.698303; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:735.698303 # Seafloor depth:-775.698303 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 52.790935 meters # Minimum depth: 768.433044 meters looking forward 0.000000 meters along route # Maximum depth: 768.433044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.433044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791771; longitude = -121.999060; captureRadius = 10; duration = 52; initialDepth = 705.377197; finalDepth = 728.433044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:728.433044 # Seafloor depth:-768.433044 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 52.790935 meters # Minimum depth: 745.377197 meters looking forward 0.000000 meters along route # Maximum depth: 745.377197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.377197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792252; longitude = -121.999091; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 702.694487; finalDepth = 705.377197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.377197 # Seafloor depth:-745.377197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 52.790935 meters # Minimum depth: 742.694487 meters looking forward 0.000000 meters along route # Maximum depth: 742.694487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.694487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792402; longitude = -121.999068; captureRadius = 10; duration = 52; initialDepth = 692.209427; finalDepth = 702.694487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.694487 # Seafloor depth:-742.694487 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 52.790935 meters # Minimum depth: 732.209427 meters looking forward 0.000000 meters along route # Maximum depth: 732.209427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.209427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792868; longitude = -121.998997; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 695.580857; finalDepth = 692.209427; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.209427 # Seafloor depth:-732.209427 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 52.790935 meters # Minimum depth: 735.580857 meters looking forward 0.000000 meters along route # Maximum depth: 735.580857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.580857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793168; longitude = -121.998821; captureRadius = 10; duration = 52; initialDepth = 693.378304; finalDepth = 695.580857; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.580857 # Seafloor depth:-735.580857 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 52.790935 meters # Minimum depth: 733.378304 meters looking forward 0.000000 meters along route # Maximum depth: 733.378304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.378304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793602; longitude = -121.998568; captureRadius = 10; duration = 52; initialDepth = 689.847457; finalDepth = 693.378304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.378304 # Seafloor depth:-733.378304 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 52.790935 meters # Minimum depth: 729.847457 meters looking forward 0.000000 meters along route # Maximum depth: 729.847457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.847457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794024; longitude = -121.998321; captureRadius = 10; duration = 52; initialDepth = 688.187914; finalDepth = 689.847457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.847457 # Seafloor depth:-729.847457 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 52.790935 meters # Minimum depth: 728.187914 meters looking forward 0.000000 meters along route # Maximum depth: 728.187914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.187914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794475; longitude = -121.998057; captureRadius = 10; duration = 52; initialDepth = 686.167175; finalDepth = 688.187914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.187914 # Seafloor depth:-728.187914 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 52.790935 meters # Minimum depth: 726.167175 meters looking forward 0.000000 meters along route # Maximum depth: 726.167175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.167175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794911; longitude = -121.997802; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 685.715791; finalDepth = 686.167175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.167175 # Seafloor depth:-726.167175 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 52.790935 meters # Minimum depth: 725.715791 meters looking forward 0.000000 meters along route # Maximum depth: 725.715791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.715791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795106; longitude = -121.997665; captureRadius = 10; duration = 52; initialDepth = 678.855500; finalDepth = 685.715791; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.715791 # Seafloor depth:-725.715791 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 52.790935 meters # Minimum depth: 718.855500 meters looking forward 0.000000 meters along route # Maximum depth: 718.855500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.855500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795511; longitude = -121.997379; captureRadius = 10; duration = 52; initialDepth = 667.523621; finalDepth = 678.855500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.8555 # Seafloor depth:-718.855500 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 52.790935 meters # Minimum depth: 707.523621 meters looking forward 0.000000 meters along route # Maximum depth: 707.523621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.523621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795947; longitude = -121.997073; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 662.756340; finalDepth = 667.523621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.523621 # Seafloor depth:-707.523621 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 52.790935 meters # Minimum depth: 702.756340 meters looking forward 0.000000 meters along route # Maximum depth: 702.756340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.756340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796142; longitude = -121.996930; captureRadius = 10; duration = 52; initialDepth = 658.744961; finalDepth = 662.756340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.75634 # Seafloor depth:-702.756340 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 52.790935 meters # Minimum depth: 698.744961 meters looking forward 0.000000 meters along route # Maximum depth: 698.744961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.744961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796548; longitude = -121.996633; captureRadius = 10; duration = 52; initialDepth = 651.811550; finalDepth = 658.744961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:658.744961 # Seafloor depth:-698.744961 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 52.790935 meters # Minimum depth: 691.811550 meters looking forward 0.000000 meters along route # Maximum depth: 691.811550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.811550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796966; longitude = -121.996326; captureRadius = 10; duration = 52; initialDepth = 647.277191; finalDepth = 651.811550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.81155 # Seafloor depth:-691.811550 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 52.790935 meters # Minimum depth: 687.277191 meters looking forward 0.000000 meters along route # Maximum depth: 687.277191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.277191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797374; longitude = -121.996027; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 647.053313; finalDepth = 647.277191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.277191 # Seafloor depth:-687.277191 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 52.790935 meters # Minimum depth: 687.053313 meters looking forward 0.000000 meters along route # Maximum depth: 687.053313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.053313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797404; longitude = -121.996008; captureRadius = 10; duration = 52; initialDepth = 640.839432; finalDepth = 647.053313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.053313 # Seafloor depth:-687.053313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 52.790935 meters # Minimum depth: 680.839432 meters looking forward 0.000000 meters along route # Maximum depth: 680.839432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.839432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797810; longitude = -121.995756; captureRadius = 10; duration = 52; initialDepth = 635.494169; finalDepth = 640.839432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:640.839432 # Seafloor depth:-680.839432 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 52.790935 meters # Minimum depth: 675.494169 meters looking forward 0.000000 meters along route # Maximum depth: 675.494169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.494169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798215; longitude = -121.995504; captureRadius = 10; duration = 52; initialDepth = 626.016180; finalDepth = 635.494169; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.494169 # Seafloor depth:-675.494169 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 52.790935 meters # Minimum depth: 666.016180 meters looking forward 0.000000 meters along route # Maximum depth: 666.016180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.016180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798621; longitude = -121.995252; captureRadius = 10; duration = 52; initialDepth = 622.152339; finalDepth = 626.016180; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:626.01618 # Seafloor depth:-666.016180 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 52.790935 meters # Minimum depth: 662.152339 meters looking forward 0.000000 meters along route # Maximum depth: 662.152339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.152339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799026; longitude = -121.995000; captureRadius = 10; duration = 52; initialDepth = 620.060272; finalDepth = 622.152339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.152339 # Seafloor depth:-662.152339 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 52.790935 meters # Minimum depth: 660.060272 meters looking forward 0.000000 meters along route # Maximum depth: 660.060272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.060272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799447; longitude = -121.994738; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 617.127012; finalDepth = 620.060272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.060272 # Seafloor depth:-660.060272 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 52.790935 meters # Minimum depth: 657.127012 meters looking forward 0.000000 meters along route # Maximum depth: 657.127012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.127012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799657; longitude = -121.994627; captureRadius = 10; duration = 52; initialDepth = 613.631566; finalDepth = 617.127012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.127012 # Seafloor depth:-657.127012 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 52.790935 meters # Minimum depth: 653.631566 meters looking forward 0.000000 meters along route # Maximum depth: 653.631566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.631566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800108; longitude = -121.994389; captureRadius = 10; duration = 52; initialDepth = 610.974884; finalDepth = 613.631566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.631566 # Seafloor depth:-653.631566 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 52.790935 meters # Minimum depth: 650.974884 meters looking forward 0.000000 meters along route # Maximum depth: 650.974884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.974884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800543; longitude = -121.994159; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 609.825941; finalDepth = 610.974884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.974884 # Seafloor depth:-650.974884 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 52.790935 meters # Minimum depth: 649.825941 meters looking forward 0.000000 meters along route # Maximum depth: 649.825941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.825941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800603; longitude = -121.994159; captureRadius = 10; duration = 52; initialDepth = 604.911039; finalDepth = 609.825941; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.825941 # Seafloor depth:-649.825941 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 52.790935 meters # Minimum depth: 644.911039 meters looking forward 0.000000 meters along route # Maximum depth: 644.911039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.911039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801099; longitude = -121.994163; captureRadius = 10; duration = 52; initialDepth = 600.460598; finalDepth = 604.911039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.911039 # Seafloor depth:-644.911039 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 52.790935 meters # Minimum depth: 640.460598 meters looking forward 0.000000 meters along route # Maximum depth: 640.460598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.460598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801595; longitude = -121.994167; captureRadius = 10; duration = 52; initialDepth = 596.807391; finalDepth = 600.460598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.460598 # Seafloor depth:-640.460598 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 52.790935 meters # Minimum depth: 636.807391 meters looking forward 0.000000 meters along route # Maximum depth: 636.807391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.807391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802090; longitude = -121.994170; captureRadius = 10; duration = 52; initialDepth = 593.510094; finalDepth = 596.807391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.807391 # Seafloor depth:-636.807391 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 52.790935 meters # Minimum depth: 633.510094 meters looking forward 0.000000 meters along route # Maximum depth: 633.510094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.510094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802586; longitude = -121.994174; captureRadius = 10; duration = 52; initialDepth = 590.773407; finalDepth = 593.510094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.510094 # Seafloor depth:-633.510094 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 52.790935 meters # Minimum depth: 630.773407 meters looking forward 0.000000 meters along route # Maximum depth: 630.773407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.773407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803052; longitude = -121.994177; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 590.768607; finalDepth = 590.773407; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.773407 # Seafloor depth:-630.773407 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 52.790935 meters # Minimum depth: 630.768607 meters looking forward 0.000000 meters along route # Maximum depth: 630.768607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.768607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803082; longitude = -121.994170; captureRadius = 10; duration = 52; initialDepth = 587.958420; finalDepth = 590.768607; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.768607 # Seafloor depth:-630.768607 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 52.790935 meters # Minimum depth: 627.958420 meters looking forward 0.000000 meters along route # Maximum depth: 627.958420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.958420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803532; longitude = -121.994065; captureRadius = 10; duration = 52; initialDepth = 585.346392; finalDepth = 587.958420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.95842 # Seafloor depth:-627.958420 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 52.790935 meters # Minimum depth: 625.346392 meters looking forward 0.000000 meters along route # Maximum depth: 625.346392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.346392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803983; longitude = -121.993961; captureRadius = 10; duration = 52; initialDepth = 582.932594; finalDepth = 585.346392; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.346392 # Seafloor depth:-625.346392 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 52.790935 meters # Minimum depth: 622.932594 meters looking forward 0.000000 meters along route # Maximum depth: 622.932594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.932594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804434; longitude = -121.993856; captureRadius = 10; duration = 52; initialDepth = 579.526842; finalDepth = 582.932594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.932594 # Seafloor depth:-622.932594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 52.790935 meters # Minimum depth: 619.526842 meters looking forward 0.000000 meters along route # Maximum depth: 619.526842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.526842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804884; longitude = -121.993751; captureRadius = 10; duration = 52; initialDepth = 576.903520; finalDepth = 579.526842; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.526842 # Seafloor depth:-619.526842 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 52.790935 meters # Minimum depth: 616.903520 meters looking forward 0.000000 meters along route # Maximum depth: 616.903520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.903520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805335; longitude = -121.993646; captureRadius = 10; duration = 52; initialDepth = 573.855724; finalDepth = 576.903520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.90352 # Seafloor depth:-616.903520 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 52.790935 meters # Minimum depth: 613.855724 meters looking forward 0.000000 meters along route # Maximum depth: 613.855724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.855724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805786; longitude = -121.993542; captureRadius = 10; duration = 52; initialDepth = 570.688400; finalDepth = 573.855724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.855724 # Seafloor depth:-613.855724 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 52.790935 meters # Minimum depth: 610.688400 meters looking forward 0.000000 meters along route # Maximum depth: 610.688400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.688400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806266; longitude = -121.993430; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 568.289807; finalDepth = 570.688400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.6884 # Seafloor depth:-610.688400 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 52.790935 meters # Minimum depth: 608.289807 meters looking forward 0.000000 meters along route # Maximum depth: 608.289807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.289807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806687; longitude = -121.993370; captureRadius = 10; duration = 52; initialDepth = 564.688907; finalDepth = 568.289807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.289807 # Seafloor depth:-608.289807 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 52.790935 meters # Minimum depth: 604.688907 meters looking forward 0.000000 meters along route # Maximum depth: 604.688907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.688907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807137; longitude = -121.993307; captureRadius = 10; duration = 52; initialDepth = 561.689079; finalDepth = 564.688907; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.688907 # Seafloor depth:-604.688907 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 52.790935 meters # Minimum depth: 601.689079 meters looking forward 0.000000 meters along route # Maximum depth: 601.689079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.689079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807588; longitude = -121.993243; captureRadius = 10; duration = 52; initialDepth = 559.227877; finalDepth = 561.689079; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.689079 # Seafloor depth:-601.689079 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 52.790935 meters # Minimum depth: 599.227877 meters looking forward 0.000000 meters along route # Maximum depth: 599.227877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.227877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808039; longitude = -121.993179; captureRadius = 10; duration = 52; initialDepth = 556.957748; finalDepth = 559.227877; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.227877 # Seafloor depth:-599.227877 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 52.790935 meters # Minimum depth: 596.957748 meters looking forward 0.000000 meters along route # Maximum depth: 596.957748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.957748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808504; longitude = -121.993113; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 556.579841; finalDepth = 556.957748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.957748 # Seafloor depth:-596.957748 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 52.790935 meters # Minimum depth: 596.579841 meters looking forward 0.000000 meters along route # Maximum depth: 596.579841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.579841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808579; longitude = -121.993065; captureRadius = 10; duration = 52; initialDepth = 553.870881; finalDepth = 556.579841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.579841 # Seafloor depth:-596.579841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 52.790935 meters # Minimum depth: 593.870881 meters looking forward 0.000000 meters along route # Maximum depth: 593.870881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.870881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809007; longitude = -121.992795; captureRadius = 10; duration = 52; initialDepth = 550.964813; finalDepth = 553.870881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.870881 # Seafloor depth:-593.870881 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 52.790935 meters # Minimum depth: 590.964813 meters looking forward 0.000000 meters along route # Maximum depth: 590.964813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.964813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809421; longitude = -121.992533; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 550.866543; finalDepth = 550.964813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.964813 # Seafloor depth:-590.964813 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 52.790935 meters # Minimum depth: 590.866543 meters looking forward 0.000000 meters along route # Maximum depth: 590.866543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.866543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809436; longitude = -121.992531; captureRadius = 10; duration = 52; initialDepth = 548.358535; finalDepth = 550.866543; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.866543 # Seafloor depth:-590.866543 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 52.790935 meters # Minimum depth: 588.358535 meters looking forward 0.000000 meters along route # Maximum depth: 588.358535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.358535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809886; longitude = -121.992459; captureRadius = 10; duration = 52; initialDepth = 545.101730; finalDepth = 548.358535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.358535 # Seafloor depth:-588.358535 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 52.790935 meters # Minimum depth: 585.101730 meters looking forward 0.000000 meters along route # Maximum depth: 585.101730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.101730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810352; longitude = -121.992384; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 543.421362; finalDepth = 545.101730; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.10173 # Seafloor depth:-585.101730 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 52.790935 meters # Minimum depth: 583.421362 meters looking forward 0.000000 meters along route # Maximum depth: 583.421362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.421362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810607; longitude = -121.992364; captureRadius = 10; duration = 52; initialDepth = 540.973324; finalDepth = 543.421362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.421362 # Seafloor depth:-583.421362 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 52.790935 meters # Minimum depth: 580.973324 meters looking forward 0.000000 meters along route # Maximum depth: 580.973324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.973324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811058; longitude = -121.992328; captureRadius = 10; duration = 52; initialDepth = 538.145665; finalDepth = 540.973324; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.973324 # Seafloor depth:-580.973324 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 52.790935 meters # Minimum depth: 578.145665 meters looking forward 0.000000 meters along route # Maximum depth: 578.145665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.145665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811520; longitude = -121.992291; captureRadius = 10; duration = 52; initialDepth = 534.945831; finalDepth = 538.145665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.145665 # Seafloor depth:-578.145665 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 52.790935 meters # Minimum depth: 574.945831 meters looking forward 0.000000 meters along route # Maximum depth: 574.945831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.945831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811989; longitude = -121.992253; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 533.117703; finalDepth = 534.945831; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.945831 # Seafloor depth:-574.945831 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 52.790935 meters # Minimum depth: 573.117703 meters looking forward 0.000000 meters along route # Maximum depth: 573.117703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.117703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812365; longitude = -121.992224; captureRadius = 10; duration = 52; initialDepth = 531.018188; finalDepth = 533.117703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.117703 # Seafloor depth:-573.117703 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 52.790935 meters # Minimum depth: 571.018188 meters looking forward 0.000000 meters along route # Maximum depth: 571.018188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.018188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812815; longitude = -121.992190; captureRadius = 10; duration = 52; initialDepth = 527.976470; finalDepth = 531.018188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.018188 # Seafloor depth:-571.018188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 52.790935 meters # Minimum depth: 567.976470 meters looking forward 0.000000 meters along route # Maximum depth: 567.976470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.976470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813266; longitude = -121.992156; captureRadius = 10; duration = 52; initialDepth = 524.983973; finalDepth = 527.976470; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.97647 # Seafloor depth:-567.976470 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 52.790935 meters # Minimum depth: 564.983973 meters looking forward 0.000000 meters along route # Maximum depth: 564.983973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.983973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813716; longitude = -121.992122; captureRadius = 10; duration = 52; initialDepth = 521.128983; finalDepth = 524.983973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.983973 # Seafloor depth:-564.983973 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 52.790935 meters # Minimum depth: 561.128983 meters looking forward 0.000000 meters along route # Maximum depth: 561.128983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.128983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814197; longitude = -121.992085; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 519.206226; finalDepth = 521.128983; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.128983 # Seafloor depth:-561.128983 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 52.790935 meters # Minimum depth: 559.206226 meters looking forward 0.000000 meters along route # Maximum depth: 559.206226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.206226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814528; longitude = -121.992085; captureRadius = 10; duration = 52; initialDepth = 515.959129; finalDepth = 519.206226; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.206226 # Seafloor depth:-559.206226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 52.790935 meters # Minimum depth: 555.959129 meters looking forward 0.000000 meters along route # Maximum depth: 555.959129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.959129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815023; longitude = -121.992085; captureRadius = 10; duration = 52; initialDepth = 511.288940; finalDepth = 515.959129; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.959129 # Seafloor depth:-555.959129 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 52.790935 meters # Minimum depth: 551.288940 meters looking forward 0.000000 meters along route # Maximum depth: 551.288940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.288940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815519; longitude = -121.992085; captureRadius = 10; duration = 52; initialDepth = 506.329727; finalDepth = 511.288940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.28894 # Seafloor depth:-551.288940 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 52.790935 meters # Minimum depth: 546.329727 meters looking forward 0.000000 meters along route # Maximum depth: 546.329727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.329727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816000; longitude = -121.992085; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 504.831161; finalDepth = 506.329727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.329727 # Seafloor depth:-546.329727 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 52.790935 meters # Minimum depth: 544.831161 meters looking forward 0.000000 meters along route # Maximum depth: 544.831161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.831161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816105; longitude = -121.992080; captureRadius = 10; duration = 52; initialDepth = 500.929798; finalDepth = 504.831161; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.831161 # Seafloor depth:-544.831161 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 52.790935 meters # Minimum depth: 540.929798 meters looking forward 0.000000 meters along route # Maximum depth: 540.929798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.929798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816555; longitude = -121.992058; captureRadius = 10; duration = 52; initialDepth = 497.515112; finalDepth = 500.929798; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.929798 # Seafloor depth:-540.929798 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 52.790935 meters # Minimum depth: 537.515112 meters looking forward 0.000000 meters along route # Maximum depth: 537.515112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.515112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817006; longitude = -121.992036; captureRadius = 10; duration = 52; initialDepth = 493.508634; finalDepth = 497.515112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.515112 # Seafloor depth:-537.515112 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 52.790935 meters # Minimum depth: 533.508634 meters looking forward 0.000000 meters along route # Maximum depth: 533.508634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.508634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817457; longitude = -121.992015; captureRadius = 10; duration = 52; initialDepth = 490.211990; finalDepth = 493.508634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.508634 # Seafloor depth:-533.508634 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 52.790935 meters # Minimum depth: 530.211990 meters looking forward 0.000000 meters along route # Maximum depth: 530.211990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.211990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817922; longitude = -121.991992; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 488.280225; finalDepth = 490.211990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.21199 # Seafloor depth:-530.211990 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 52.790935 meters # Minimum depth: 528.280225 meters looking forward 0.000000 meters along route # Maximum depth: 528.280225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.280225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818223; longitude = -121.991826; captureRadius = 10; duration = 52; initialDepth = 485.849287; finalDepth = 488.280225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.280225 # Seafloor depth:-528.280225 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 52.790935 meters # Minimum depth: 525.849287 meters looking forward 0.000000 meters along route # Maximum depth: 525.849287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.849287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818673; longitude = -121.991577; captureRadius = 10; duration = 52; initialDepth = 482.780811; finalDepth = 485.849287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.849287 # Seafloor depth:-525.849287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 52.790935 meters # Minimum depth: 522.780811 meters looking forward 0.000000 meters along route # Maximum depth: 522.780811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.780811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819106; longitude = -121.991338; captureRadius = 10; duration = 52; initialDepth = 479.421824; finalDepth = 482.780811; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.780811 # Seafloor depth:-522.780811 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 52.790935 meters # Minimum depth: 519.421824 meters looking forward 0.000000 meters along route # Maximum depth: 519.421824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.421824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819529; longitude = -121.991104; captureRadius = 10; duration = 52; initialDepth = 476.129837; finalDepth = 479.421824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.421824 # Seafloor depth:-519.421824 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 52.790935 meters # Minimum depth: 516.129837 meters looking forward 0.000000 meters along route # Maximum depth: 516.129837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.129837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819950; longitude = -121.990871; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 473.966876; finalDepth = 476.129837; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.129837 # Seafloor depth:-516.129837 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 52.790935 meters # Minimum depth: 513.966876 meters looking forward 0.000000 meters along route # Maximum depth: 513.966876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.966876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820082; longitude = -121.990721; captureRadius = 10; duration = 52; initialDepth = 467.836313; finalDepth = 473.966876; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.966876 # Seafloor depth:-513.966876 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 52.790935 meters # Minimum depth: 507.836313 meters looking forward 0.000000 meters along route # Maximum depth: 507.836313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.836313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820431; longitude = -121.990326; captureRadius = 10; duration = 52; initialDepth = 462.584595; finalDepth = 467.836313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.836313 # Seafloor depth:-507.836313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 52.790935 meters # Minimum depth: 502.584595 meters looking forward 0.000000 meters along route # Maximum depth: 502.584595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.584595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820774; longitude = -121.989937; captureRadius = 10; duration = 52; initialDepth = 457.939064; finalDepth = 462.584595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.584595 # Seafloor depth:-502.584595 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 52.790935 meters # Minimum depth: 497.939064 meters looking forward 0.000000 meters along route # Maximum depth: 497.939064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.939064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821119; longitude = -121.989544; captureRadius = 10; duration = 52; initialDepth = 452.780823; finalDepth = 457.939064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.939064 # Seafloor depth:-497.939064 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 52.790935 meters # Minimum depth: 492.780823 meters looking forward 0.000000 meters along route # Maximum depth: 492.780823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.780823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821482; longitude = -121.989133; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 452.005664; finalDepth = 452.780823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.780823 # Seafloor depth:-492.780823 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 52.790935 meters # Minimum depth: 492.005664 meters looking forward 0.000000 meters along route # Maximum depth: 492.005664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.005664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821557; longitude = -121.988915; captureRadius = 10; duration = 52; initialDepth = 447.370011; finalDepth = 452.005664; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.005664 # Seafloor depth:-492.005664 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 52.790935 meters # Minimum depth: 487.370011 meters looking forward 0.000000 meters along route # Maximum depth: 487.370011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.370011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821737; longitude = -121.988392; captureRadius = 10; duration = 52; initialDepth = 444.242514; finalDepth = 447.370011; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:447.370011 # Seafloor depth:-487.370011 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 52.790935 meters # Minimum depth: 484.242514 meters looking forward 0.000000 meters along route # Maximum depth: 484.242514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.242514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821920; longitude = -121.987863; captureRadius = 10; duration = 52; initialDepth = 441.271908; finalDepth = 444.242514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.242514 # Seafloor depth:-484.242514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 52.790935 meters # Minimum depth: 481.271908 meters looking forward 0.000000 meters along route # Maximum depth: 481.271908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.271908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822113; longitude = -121.987303; captureRadius = 10; duration = 52; initialDepth = 437.986710; finalDepth = 441.271908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:441.271908 # Seafloor depth:-481.271908 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 52.790935 meters # Minimum depth: 477.986710 meters looking forward 0.000000 meters along route # Maximum depth: 477.986710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.986710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822293; longitude = -121.986779; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 437.769649; finalDepth = 437.986710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.98671 # Seafloor depth:-477.986710 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 52.790935 meters # Minimum depth: 477.769649 meters looking forward 0.000000 meters along route # Maximum depth: 477.769649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.769649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822292; longitude = -121.986742; captureRadius = 10; duration = 52; initialDepth = 436.291866; finalDepth = 437.769649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.769649 # Seafloor depth:-477.769649 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 52.790935 meters # Minimum depth: 476.291866 meters looking forward 0.000000 meters along route # Maximum depth: 476.291866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.291866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822278; longitude = -121.986182; captureRadius = 10; duration = 52; initialDepth = 435.600277; finalDepth = 436.291866; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.291866 # Seafloor depth:-476.291866 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 52.790935 meters # Minimum depth: 475.600277 meters looking forward 0.000000 meters along route # Maximum depth: 475.600277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.600277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822263; longitude = -121.985621; captureRadius = 10; duration = 52; initialDepth = 434.002068; finalDepth = 435.600277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.600277 # Seafloor depth:-475.600277 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 52.790935 meters # Minimum depth: 474.002068 meters looking forward 0.000000 meters along route # Maximum depth: 474.002068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.002068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822248; longitude = -121.985042; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 433.440040; finalDepth = 434.002068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.002068 # Seafloor depth:-474.002068 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 52.790935 meters # Minimum depth: 473.440040 meters looking forward 0.000000 meters along route # Maximum depth: 473.440040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.440040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822260; longitude = -121.984612; captureRadius = 10; duration = 52; initialDepth = 431.366304; finalDepth = 433.440040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:433.44004 # Seafloor depth:-473.440040 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 52.790935 meters # Minimum depth: 471.366304 meters looking forward 0.000000 meters along route # Maximum depth: 471.366304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.366304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822276; longitude = -121.984052; captureRadius = 10; duration = 52; initialDepth = 429.601830; finalDepth = 431.366304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.366304 # Seafloor depth:-471.366304 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 52.790935 meters # Minimum depth: 469.601830 meters looking forward 0.000000 meters along route # Maximum depth: 469.601830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.601830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822293; longitude = -121.983473; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 426.728986; finalDepth = 429.601830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.60183 # Seafloor depth:-469.601830 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 52.790935 meters # Minimum depth: 466.728986 meters looking forward 0.000000 meters along route # Maximum depth: 466.728986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.728986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822298; longitude = -121.982931; captureRadius = 10; duration = 52; initialDepth = 422.775948; finalDepth = 426.728986; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:426.728986 # Seafloor depth:-466.728986 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 52.790935 meters # Minimum depth: 462.775948 meters looking forward 0.000000 meters along route # Maximum depth: 462.775948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.775948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822303; longitude = -121.982315; captureRadius = 10; duration = 52; initialDepth = 419.071342; finalDepth = 422.775948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:422.775948 # Seafloor depth:-462.775948 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 52.790935 meters # Minimum depth: 459.071342 meters looking forward 0.000000 meters along route # Maximum depth: 459.071342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.071342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822308; longitude = -121.981717; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 419.206661; finalDepth = 419.071342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.071342 # Seafloor depth:-459.071342 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 52.790935 meters # Minimum depth: 459.206661 meters looking forward 0.000000 meters along route # Maximum depth: 459.206661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.206661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822343; longitude = -121.981642; captureRadius = 10; duration = 52; initialDepth = 413.173807; finalDepth = 419.206661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.206661 # Seafloor depth:-459.206661 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 52.790935 meters # Minimum depth: 453.173807 meters looking forward 0.000000 meters along route # Maximum depth: 453.173807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.173807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822579; longitude = -121.981138; captureRadius = 10; duration = 52; initialDepth = 410.988419; finalDepth = 413.173807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:413.173807 # Seafloor depth:-453.173807 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 52.790935 meters # Minimum depth: 450.988419 meters looking forward 0.000000 meters along route # Maximum depth: 450.988419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.988419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822819; longitude = -121.980624; captureRadius = 10; duration = 52; initialDepth = 406.216080; finalDepth = 410.988419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.988419 # Seafloor depth:-450.988419 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 52.790935 meters # Minimum depth: 446.216080 meters looking forward 0.000000 meters along route # Maximum depth: 446.216080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.216080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823059; longitude = -121.980110; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 404.585680; finalDepth = 406.216080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:406.21608 # Seafloor depth:-446.216080 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 52.790935 meters # Minimum depth: 444.585680 meters looking forward 0.000000 meters along route # Maximum depth: 444.585680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.585680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823224; longitude = -121.979904; captureRadius = 10; duration = 52; initialDepth = 401.726643; finalDepth = 404.585680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:404.58568 # Seafloor depth:-444.585680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 52.790935 meters # Minimum depth: 441.726643 meters looking forward 0.000000 meters along route # Maximum depth: 441.726643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.726643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823585; longitude = -121.979456; captureRadius = 10; duration = 52; initialDepth = 398.212732; finalDepth = 401.726643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:401.726643 # Seafloor depth:-441.726643 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 52.790935 meters # Minimum depth: 438.212732 meters looking forward 0.000000 meters along route # Maximum depth: 438.212732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.212732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823945; longitude = -121.979008; captureRadius = 10; duration = 52; initialDepth = 395.169106; finalDepth = 398.212732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.212732 # Seafloor depth:-438.212732 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 52.790935 meters # Minimum depth: 435.169106 meters looking forward 0.000000 meters along route # Maximum depth: 435.169106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.169106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824276; longitude = -121.978597; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 393.096262; finalDepth = 395.169106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.169106 # Seafloor depth:-435.169106 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 52.790935 meters # Minimum depth: 433.096262 meters looking forward 0.000000 meters along route # Maximum depth: 433.096262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.096262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824621; longitude = -121.978314; captureRadius = 10; duration = 52; initialDepth = 390.166494; finalDepth = 393.096262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.096262 # Seafloor depth:-433.096262 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 52.790935 meters # Minimum depth: 430.166494 meters looking forward 0.000000 meters along route # Maximum depth: 430.166494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.166494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825027; longitude = -121.977982; captureRadius = 10; duration = 52; initialDepth = 388.186076; finalDepth = 390.166494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:390.166494 # Seafloor depth:-430.166494 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 52.790935 meters # Minimum depth: 428.186076 meters looking forward 0.000000 meters along route # Maximum depth: 428.186076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.186076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825432; longitude = -121.977649; captureRadius = 10; duration = 52; initialDepth = 386.859819; finalDepth = 388.186076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.186076 # Seafloor depth:-428.186076 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 52.790935 meters # Minimum depth: 426.859819 meters looking forward 0.000000 meters along route # Maximum depth: 426.859819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.859819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825838; longitude = -121.977317; captureRadius = 10; duration = 52; initialDepth = 385.075584; finalDepth = 386.859819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:386.859819 # Seafloor depth:-426.859819 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 52.790935 meters # Minimum depth: 425.075584 meters looking forward 0.000000 meters along route # Maximum depth: 425.075584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.075584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826259; longitude = -121.976972; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 384.862911; finalDepth = 385.075584; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.075584 # Seafloor depth:-425.075584 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 52.790935 meters # Minimum depth: 424.862911 meters looking forward 0.000000 meters along route # Maximum depth: 424.862911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.862911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826424; longitude = -121.976849; captureRadius = 10; duration = 52; initialDepth = 383.347153; finalDepth = 384.862911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:384.862911 # Seafloor depth:-424.862911 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 52.790935 meters # Minimum depth: 423.347153 meters looking forward 0.000000 meters along route # Maximum depth: 423.347153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.347153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826835; longitude = -121.976542; captureRadius = 10; duration = 52; initialDepth = 380.375008; finalDepth = 383.347153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:383.347153 # Seafloor depth:-423.347153 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 52.790935 meters # Minimum depth: 420.375008 meters looking forward 0.000000 meters along route # Maximum depth: 420.375008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.375008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827235; longitude = -121.976244; captureRadius = 10; duration = 52; initialDepth = 377.629399; finalDepth = 380.375008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:380.375008 # Seafloor depth:-420.375008 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 52.790935 meters # Minimum depth: 417.629399 meters looking forward 0.000000 meters along route # Maximum depth: 417.629399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.629399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827661; longitude = -121.975926; captureRadius = 10; duration = 52; initialDepth = 375.089325; finalDepth = 377.629399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.629399 # Seafloor depth:-417.629399 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 52.790935 meters # Minimum depth: 415.089325 meters looking forward 0.000000 meters along route # Maximum depth: 415.089325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.089325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828061; longitude = -121.975627; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 374.155134; finalDepth = 375.089325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:375.089325 # Seafloor depth:-415.089325 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 52.790935 meters # Minimum depth: 414.155134 meters looking forward 0.000000 meters along route # Maximum depth: 414.155134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.155134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828452; longitude = -121.975294; captureRadius = 10; duration = 52; initialDepth = 368.564202; finalDepth = 374.155134; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:374.155134 # Seafloor depth:-414.155134 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 52.790935 meters # Minimum depth: 408.564202 meters looking forward 0.000000 meters along route # Maximum depth: 408.564202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.564202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828857; longitude = -121.974948; captureRadius = 10; duration = 52; initialDepth = 362.395784; finalDepth = 368.564202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:368.564202 # Seafloor depth:-408.564202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 52.790935 meters # Minimum depth: 402.395784 meters looking forward 0.000000 meters along route # Maximum depth: 402.395784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.395784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829263; longitude = -121.974602; captureRadius = 10; duration = 52; initialDepth = 358.884277; finalDepth = 362.395784; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:362.395784 # Seafloor depth:-402.395784 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 52.790935 meters # Minimum depth: 398.884277 meters looking forward 0.000000 meters along route # Maximum depth: 398.884277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.884277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829638; longitude = -121.974282; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 357.880009; finalDepth = 358.884277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:358.884277 # Seafloor depth:-398.884277 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 52.790935 meters # Minimum depth: 397.880009 meters looking forward 0.000000 meters along route # Maximum depth: 397.880009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.880009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829713; longitude = -121.974239; captureRadius = 10; duration = 52; initialDepth = 352.543889; finalDepth = 357.880009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:357.880009 # Seafloor depth:-397.880009 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 52.790935 meters # Minimum depth: 392.543889 meters looking forward 0.000000 meters along route # Maximum depth: 392.543889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.543889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830164; longitude = -121.973981; captureRadius = 10; duration = 52; initialDepth = 347.294981; finalDepth = 352.543889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:352.543889 # Seafloor depth:-392.543889 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 52.790935 meters # Minimum depth: 387.294981 meters looking forward 0.000000 meters along route # Maximum depth: 387.294981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.294981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830586; longitude = -121.973740; captureRadius = 10; duration = 52; initialDepth = 341.462909; finalDepth = 347.294981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:347.294981 # Seafloor depth:-387.294981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 52.790935 meters # Minimum depth: 381.462909 meters looking forward 0.000000 meters along route # Maximum depth: 381.462909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.462909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831020; longitude = -121.973491; captureRadius = 10; duration = 52; initialDepth = 336.070847; finalDepth = 341.462909; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:341.462909 # Seafloor depth:-381.462909 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 52.790935 meters # Minimum depth: 376.070847 meters looking forward 0.000000 meters along route # Maximum depth: 376.070847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.070847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831471; longitude = -121.973233; captureRadius = 10; duration = 52; initialDepth = 331.198349; finalDepth = 336.070847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:336.070847 # Seafloor depth:-376.070847 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 52.790935 meters # Minimum depth: 371.198349 meters looking forward 0.000000 meters along route # Maximum depth: 371.198349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.198349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831891; longitude = -121.972993; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 328.124166; finalDepth = 331.198349; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:331.198349 # Seafloor depth:-371.198349 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 52.790935 meters # Minimum depth: 368.124166 meters looking forward 0.000000 meters along route # Maximum depth: 368.124166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.124166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832282; longitude = -121.972665; captureRadius = 10; duration = 52; initialDepth = 323.971037; finalDepth = 328.124166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:328.124166 # Seafloor depth:-368.124166 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 52.790935 meters # Minimum depth: 363.971037 meters looking forward 0.000000 meters along route # Maximum depth: 363.971037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.971037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832687; longitude = -121.972324; captureRadius = 10; duration = 52; initialDepth = 320.793215; finalDepth = 323.971037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:323.971037 # Seafloor depth:-363.971037 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 52.790935 meters # Minimum depth: 360.793215 meters looking forward 0.000000 meters along route # Maximum depth: 360.793215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 320.793215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833093; longitude = -121.971984; captureRadius = 10; duration = 52; initialDepth = 317.266739; finalDepth = 320.793215; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:320.793215 # Seafloor depth:-360.793215 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 52.790935 meters # Minimum depth: 357.266739 meters looking forward 0.000000 meters along route # Maximum depth: 357.266739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 317.266739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833471; longitude = -121.971666; captureRadius = 10; duration = 52; initialDepth = 314.995050; finalDepth = 317.266739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:317.266739 # Seafloor depth:-357.266739 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 52.790935 meters # Minimum depth: 354.995050 meters looking forward 0.000000 meters along route # Maximum depth: 354.995050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 314.995050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833872; longitude = -121.971330; captureRadius = 10; duration = 52; initialDepth = 311.722496; finalDepth = 314.995050; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:314.99505 # Seafloor depth:-354.995050 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 52.790935 meters # Minimum depth: 351.722496 meters looking forward 0.000000 meters along route # Maximum depth: 351.722496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.722496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834250; longitude = -121.971012; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 309.949285; finalDepth = 311.722496; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:311.722496 # Seafloor depth:-351.722496 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.790935 meters # Minimum depth: 349.949285 meters looking forward 0.000000 meters along route # Maximum depth: 349.949285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.949285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834400; longitude = -121.970862; captureRadius = 10; duration = 52; initialDepth = 306.672629; finalDepth = 309.949285; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:309.949285 # Seafloor depth:-349.949285 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.790935 meters # Minimum depth: 346.672629 meters looking forward 0.000000 meters along route # Maximum depth: 346.672629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.672629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834760; longitude = -121.970502; captureRadius = 10; duration = 52; initialDepth = 302.866331; finalDepth = 306.672629; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:306.672629 # Seafloor depth:-346.672629 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.790935 meters # Minimum depth: 342.866331 meters looking forward 0.000000 meters along route # Maximum depth: 342.866331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 302.866331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835121; longitude = -121.970142; captureRadius = 10; duration = 52; initialDepth = 299.152457; finalDepth = 302.866331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:302.866331 # Seafloor depth:-342.866331 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.790935 meters # Minimum depth: 339.152457 meters looking forward 0.000000 meters along route # Maximum depth: 339.152457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.152457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835502; longitude = -121.969761; captureRadius = 10; duration = 52; initialDepth = 296.331429; finalDepth = 299.152457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:299.152457 # Seafloor depth:-339.152457 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 52.790935 meters # Minimum depth: 336.331429 meters looking forward 0.000000 meters along route # Maximum depth: 336.331429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.331429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835857; longitude = -121.969406; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 295.667461; finalDepth = 296.331429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:296.331429 # Seafloor depth:-336.331429 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 52.790935 meters # Minimum depth: 335.667461 meters looking forward 0.000000 meters along route # Maximum depth: 335.667461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.667461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835987; longitude = -121.969312; captureRadius = 10; duration = 52; initialDepth = 293.744376; finalDepth = 295.667461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:295.667461 # Seafloor depth:-335.667461 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 52.790935 meters # Minimum depth: 333.744376 meters looking forward 0.000000 meters along route # Maximum depth: 333.744376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 293.744376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836382; longitude = -121.969027; captureRadius = 10; duration = 52; initialDepth = 292.419166; finalDepth = 293.744376; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:293.744376 # Seafloor depth:-333.744376 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 52.790935 meters # Minimum depth: 332.419166 meters looking forward 0.000000 meters along route # Maximum depth: 332.419166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.419166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836788; longitude = -121.968735; captureRadius = 10; duration = 52; initialDepth = 291.282644; finalDepth = 292.419166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:292.419166 # Seafloor depth:-332.419166 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 52.790935 meters # Minimum depth: 331.282644 meters looking forward 0.000000 meters along route # Maximum depth: 331.282644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 291.282644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837194; longitude = -121.968443; captureRadius = 10; duration = 52; initialDepth = 290.305682; finalDepth = 291.282644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:291.282644 # Seafloor depth:-331.282644 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 52.790935 meters # Minimum depth: 330.305682 meters looking forward 0.000000 meters along route # Maximum depth: 330.305682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.305682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837599; longitude = -121.968151; captureRadius = 10; duration = 52; initialDepth = 286.760097; finalDepth = 290.305682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:290.305682 # Seafloor depth:-330.305682 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 52.790935 meters # Minimum depth: 326.760097 meters looking forward 0.000000 meters along route # Maximum depth: 326.760097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 286.760097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838010; longitude = -121.967855; captureRadius = 10; duration = 52; initialDepth = 279.671913; finalDepth = 286.760097; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:286.760097 # Seafloor depth:-326.760097 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 52.790935 meters # Minimum depth: 319.671913 meters looking forward 0.000000 meters along route # Maximum depth: 319.671913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 279.671913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838425; longitude = -121.967556; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 276.985476; finalDepth = 279.671913; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:279.671913 # Seafloor depth:-319.671913 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 52.790935 meters # Minimum depth: 316.985476 meters looking forward 0.000000 meters along route # Maximum depth: 316.985476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.985476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838636; longitude = -121.967294; captureRadius = 10; duration = 52; initialDepth = 269.578699; finalDepth = 276.985476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:276.985476 # Seafloor depth:-316.985476 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 52.790935 meters # Minimum depth: 309.578699 meters looking forward 0.000000 meters along route # Maximum depth: 309.578699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.578699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838996; longitude = -121.966846; captureRadius = 10; duration = 52; initialDepth = 263.308765; finalDepth = 269.578699; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:269.578699 # Seafloor depth:-309.578699 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 52.790935 meters # Minimum depth: 303.308765 meters looking forward 0.000000 meters along route # Maximum depth: 303.308765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.308765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839357; longitude = -121.966398; captureRadius = 10; duration = 52; initialDepth = 258.311654; finalDepth = 263.308765; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:263.308765 # Seafloor depth:-303.308765 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 52.790935 meters # Minimum depth: 298.311654 meters looking forward 0.000000 meters along route # Maximum depth: 298.311654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.311654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839717; longitude = -121.965949; captureRadius = 10; duration = 52; initialDepth = 254.818954; finalDepth = 258.311654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:258.311654 # Seafloor depth:-298.311654 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 52.790935 meters # Minimum depth: 294.818954 meters looking forward 0.000000 meters along route # Maximum depth: 294.818954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.818954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840047; longitude = -121.965539; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 254.913085; finalDepth = 254.818954; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:254.818954 # Seafloor depth:-294.818954 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 52.790935 meters # Minimum depth: 294.913085 meters looking forward 0.000000 meters along route # Maximum depth: 294.913085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.913085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840078; longitude = -121.965527; captureRadius = 10; duration = 52; initialDepth = 251.075596; finalDepth = 254.913085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:254.913085 # Seafloor depth:-294.913085 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 52.790935 meters # Minimum depth: 291.075596 meters looking forward 0.000000 meters along route # Maximum depth: 291.075596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.075596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840528; longitude = -121.965356; captureRadius = 10; duration = 52; initialDepth = 246.104168; finalDepth = 251.075596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:251.075596 # Seafloor depth:-291.075596 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 52.790935 meters # Minimum depth: 286.104168 meters looking forward 0.000000 meters along route # Maximum depth: 286.104168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.104168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840979; longitude = -121.965184; captureRadius = 10; duration = 52; initialDepth = 240.767611; finalDepth = 246.104168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:246.104168 # Seafloor depth:-286.104168 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 52.790935 meters # Minimum depth: 280.767611 meters looking forward 0.000000 meters along route # Maximum depth: 280.767611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.767611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841429; longitude = -121.965013; captureRadius = 10; duration = 52; initialDepth = 237.733330; finalDepth = 240.767611; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:240.767611 # Seafloor depth:-280.767611 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 52.790935 meters # Minimum depth: 277.733330 meters looking forward 0.000000 meters along route # Maximum depth: 277.733330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.733330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841865; longitude = -121.964847; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 234.130220; finalDepth = 237.733330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:237.73333 # Seafloor depth:-277.733330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 52.790935 meters # Minimum depth: 274.130220 meters looking forward 0.000000 meters along route # Maximum depth: 274.130220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.130220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842286; longitude = -121.964725; captureRadius = 10; duration = 52; initialDepth = 231.028782; finalDepth = 234.130220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:234.13022 # Seafloor depth:-274.130220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 52.790935 meters # Minimum depth: 271.028782 meters looking forward 0.000000 meters along route # Maximum depth: 271.028782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.028782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842736; longitude = -121.964594; captureRadius = 10; duration = 52; initialDepth = 228.019169; finalDepth = 231.028782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:231.028782 # Seafloor depth:-271.028782 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 52.790935 meters # Minimum depth: 268.019169 meters looking forward 0.000000 meters along route # Maximum depth: 268.019169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.019169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843187; longitude = -121.964464; captureRadius = 10; duration = 52; initialDepth = 224.765393; finalDepth = 228.019169; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:228.019169 # Seafloor depth:-268.019169 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 52.790935 meters # Minimum depth: 264.765393 meters looking forward 0.000000 meters along route # Maximum depth: 264.765393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 224.765393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843637; longitude = -121.964333; captureRadius = 10; duration = 52; initialDepth = 221.007728; finalDepth = 224.765393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:224.765393 # Seafloor depth:-264.765393 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 52.790935 meters # Minimum depth: 261.007728 meters looking forward 0.000000 meters along route # Maximum depth: 261.007728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 221.007728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844088; longitude = -121.964202; captureRadius = 10; duration = 52; initialDepth = 217.819992; finalDepth = 221.007728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:221.007728 # Seafloor depth:-261.007728 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 52.790935 meters # Minimum depth: 257.819992 meters looking forward 0.000000 meters along route # Maximum depth: 257.819992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.819992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844569; longitude = -121.964063; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 216.459971; finalDepth = 217.819992; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:217.819992 # Seafloor depth:-257.819992 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 52.790935 meters # Minimum depth: 256.459971 meters looking forward 0.000000 meters along route # Maximum depth: 256.459971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.459971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844719; longitude = -121.964034; captureRadius = 10; duration = 52; initialDepth = 214.558316; finalDepth = 216.459971; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:216.459971 # Seafloor depth:-256.459971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 52.790935 meters # Minimum depth: 254.558316 meters looking forward 0.000000 meters along route # Maximum depth: 254.558316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.558316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845169; longitude = -121.963949; captureRadius = 10; duration = 52; initialDepth = 212.663517; finalDepth = 214.558316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:214.558316 # Seafloor depth:-254.558316 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 52.790935 meters # Minimum depth: 252.663517 meters looking forward 0.000000 meters along route # Maximum depth: 252.663517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.663517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845620; longitude = -121.963863; captureRadius = 10; duration = 52; initialDepth = 209.878745; finalDepth = 212.663517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:212.663517 # Seafloor depth:-252.663517 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 52.790935 meters # Minimum depth: 249.878745 meters looking forward 0.000000 meters along route # Maximum depth: 249.878745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.878745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846071; longitude = -121.963777; captureRadius = 10; duration = 52; initialDepth = 206.035527; finalDepth = 209.878745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:209.878745 # Seafloor depth:-249.878745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 52.790935 meters # Minimum depth: 246.035527 meters looking forward 0.000000 meters along route # Maximum depth: 246.035527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.035527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846521; longitude = -121.963691; captureRadius = 10; duration = 52; initialDepth = 204.388727; finalDepth = 206.035527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:206.035527 # Seafloor depth:-246.035527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 52.790935 meters # Minimum depth: 244.388727 meters looking forward 0.000000 meters along route # Maximum depth: 244.388727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.388727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846972; longitude = -121.963605; captureRadius = 10; duration = 52; initialDepth = 201.727446; finalDepth = 204.388727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:204.388727 # Seafloor depth:-244.388727 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 52.790935 meters # Minimum depth: 241.727446 meters looking forward 0.000000 meters along route # Maximum depth: 241.727446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.727446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847423; longitude = -121.963519; captureRadius = 10; duration = 52; initialDepth = 197.159187; finalDepth = 201.727446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:201.727446 # Seafloor depth:-241.727446 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 52.790935 meters # Minimum depth: 237.159187 meters looking forward 0.000000 meters along route # Maximum depth: 237.159187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.159187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847873; longitude = -121.963433; captureRadius = 10; duration = 52; initialDepth = 193.803174; finalDepth = 197.159187; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:197.159187 # Seafloor depth:-237.159187 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 52.790935 meters # Minimum depth: 233.803174 meters looking forward 0.000000 meters along route # Maximum depth: 233.803174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 193.803174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848324; longitude = -121.963347; captureRadius = 10; duration = 52; initialDepth = 191.916671; finalDepth = 193.803174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:193.803174 # Seafloor depth:-233.803174 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 52.790935 meters # Minimum depth: 231.916671 meters looking forward 0.000000 meters along route # Maximum depth: 231.916671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.916671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848774; longitude = -121.963261; captureRadius = 10; duration = 52; initialDepth = 190.388086; finalDepth = 191.916671; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:191.916671 # Seafloor depth:-231.916671 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 52.790935 meters # Minimum depth: 230.388086 meters looking forward 0.000000 meters along route # Maximum depth: 230.388086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.388086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849225; longitude = -121.963175; captureRadius = 10; duration = 52; initialDepth = 188.848836; finalDepth = 190.388086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:190.388086 # Seafloor depth:-230.388086 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 52.790935 meters # Minimum depth: 228.848836 meters looking forward 0.000000 meters along route # Maximum depth: 228.848836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.848836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849676; longitude = -121.963090; captureRadius = 10; duration = 52; initialDepth = 185.225063; finalDepth = 188.848836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:188.848836 # Seafloor depth:-228.848836 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 52.790935 meters # Minimum depth: 225.225063 meters looking forward 0.000000 meters along route # Maximum depth: 225.225063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.225063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850156; longitude = -121.962998; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 182.896290; finalDepth = 185.225063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:185.225063 # Seafloor depth:-225.225063 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 52.790935 meters # Minimum depth: 222.896290 meters looking forward 0.000000 meters along route # Maximum depth: 222.896290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.896290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850532; longitude = -121.962855; captureRadius = 10; duration = 52; initialDepth = 181.385940; finalDepth = 182.896290; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:182.89629 # Seafloor depth:-222.896290 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 52.790935 meters # Minimum depth: 221.385940 meters looking forward 0.000000 meters along route # Maximum depth: 221.385940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 181.385940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850982; longitude = -121.962683; captureRadius = 10; duration = 52; initialDepth = 178.317776; finalDepth = 181.385940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:181.38594 # Seafloor depth:-221.385940 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 52.790935 meters # Minimum depth: 218.317776 meters looking forward 0.000000 meters along route # Maximum depth: 218.317776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.317776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851433; longitude = -121.962512; captureRadius = 10; duration = 52; initialDepth = 177.060802; finalDepth = 178.317776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:178.317776 # Seafloor depth:-218.317776 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 52.790935 meters # Minimum depth: 217.060802 meters looking forward 0.000000 meters along route # Maximum depth: 217.060802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.060802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851884; longitude = -121.962340; captureRadius = 10; duration = 52; initialDepth = 173.568217; finalDepth = 177.060802; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:177.060802 # Seafloor depth:-217.060802 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 52.790935 meters # Minimum depth: 213.568217 meters looking forward 0.000000 meters along route # Maximum depth: 213.568217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.568217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852334; longitude = -121.962169; captureRadius = 10; duration = 52; initialDepth = 166.104932; finalDepth = 173.568217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:173.568217 # Seafloor depth:-213.568217 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 52.790935 meters # Minimum depth: 206.104932 meters looking forward 0.000000 meters along route # Maximum depth: 206.104932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.104932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852785; longitude = -121.961997; captureRadius = 10; duration = 52; initialDepth = 160.573592; finalDepth = 166.104932; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:166.104932 # Seafloor depth:-206.104932 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 52.790935 meters # Minimum depth: 200.573592 meters looking forward 0.000000 meters along route # Maximum depth: 200.573592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.573592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853236; longitude = -121.961826; captureRadius = 10; duration = 52; initialDepth = 154.516271; finalDepth = 160.573592; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:160.573592 # Seafloor depth:-200.573592 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 52.790935 meters # Minimum depth: 194.516271 meters looking forward 0.000000 meters along route # Maximum depth: 194.516271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.516271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853686; longitude = -121.961654; captureRadius = 10; duration = 52; initialDepth = 152.150609; finalDepth = 154.516271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:154.516271 # Seafloor depth:-194.516271 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 52.790935 meters # Minimum depth: 192.150609 meters looking forward 0.000000 meters along route # Maximum depth: 192.150609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.150609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854137; longitude = -121.961483; captureRadius = 10; duration = 52; initialDepth = 149.729652; finalDepth = 152.150609; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:152.150609 # Seafloor depth:-192.150609 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 52.790935 meters # Minimum depth: 189.729652 meters looking forward 0.000000 meters along route # Maximum depth: 189.729652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.729652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854572; longitude = -121.961317; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 147.833307; finalDepth = 149.729652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:149.729652 # Seafloor depth:-189.729652 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.790935 meters # Minimum depth: 187.833307 meters looking forward 0.000000 meters along route # Maximum depth: 187.833307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.833307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854723; longitude = -121.961294; captureRadius = 10; duration = 52; initialDepth = 141.303323; finalDepth = 147.833307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:147.833307 # Seafloor depth:-187.833307 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.790935 meters # Minimum depth: 181.303323 meters looking forward 0.000000 meters along route # Maximum depth: 181.303323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.303323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855173; longitude = -121.961224; captureRadius = 10; duration = 52; initialDepth = 134.998458; finalDepth = 141.303323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:141.303323 # Seafloor depth:-181.303323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.790935 meters # Minimum depth: 174.998458 meters looking forward 0.000000 meters along route # Maximum depth: 174.998458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.998458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855624; longitude = -121.961154; captureRadius = 10; duration = 52; initialDepth = 130.514244; finalDepth = 134.998458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:134.998458 # Seafloor depth:-174.998458 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.790935 meters # Minimum depth: 170.514244 meters looking forward 0.000000 meters along route # Maximum depth: 170.514244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 130.514244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856074; longitude = -121.961084; captureRadius = 10; duration = 52; initialDepth = 126.846317; finalDepth = 130.514244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:130.514244 # Seafloor depth:-170.514244 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.790935 meters # Minimum depth: 166.846317 meters looking forward 0.000000 meters along route # Maximum depth: 166.846317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.846317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856525; longitude = -121.961014; captureRadius = 10; duration = 52; initialDepth = 122.366925; finalDepth = 126.846317; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:126.846317 # Seafloor depth:-166.846317 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.790935 meters # Minimum depth: 162.366925 meters looking forward 0.000000 meters along route # Maximum depth: 162.366925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.366925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856976; longitude = -121.960945; captureRadius = 10; duration = 52; initialDepth = 116.657958; finalDepth = 122.366925; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:122.366925 # Seafloor depth:-162.366925 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.790935 meters # Minimum depth: 156.657958 meters looking forward 0.000000 meters along route # Maximum depth: 156.657958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.657958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857426; longitude = -121.960875; captureRadius = 10; duration = 52; initialDepth = 112.511376; finalDepth = 116.657958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:116.657958 # Seafloor depth:-156.657958 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.790935 meters # Minimum depth: 152.511376 meters looking forward 0.000000 meters along route # Maximum depth: 152.511376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.511376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857877; longitude = -121.960805; captureRadius = 10; duration = 52; initialDepth = 108.695115; finalDepth = 112.511376; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:112.511376 # Seafloor depth:-152.511376 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.790935 meters # Minimum depth: 148.695115 meters looking forward 0.000000 meters along route # Maximum depth: 148.695115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.695115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858328; longitude = -121.960735; captureRadius = 10; duration = 52; initialDepth = 106.050545; finalDepth = 108.695115; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:108.695115 # Seafloor depth:-148.695115 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 52.790935 meters # Minimum depth: 146.050545 meters looking forward 0.000000 meters along route # Maximum depth: 146.050545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.050545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858793; longitude = -121.960663; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 106.067578; finalDepth = 106.050545; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:106.050545 # Seafloor depth:-146.050545 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.790935 meters # Minimum depth: 146.067578 meters looking forward 0.000000 meters along route # Maximum depth: 146.067578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.067578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858823; longitude = -121.960671; captureRadius = 10; duration = 52; initialDepth = 100.635473; finalDepth = 106.067578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:106.067578 # Seafloor depth:-146.067578 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.790935 meters # Minimum depth: 140.635473 meters looking forward 0.000000 meters along route # Maximum depth: 140.635473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.635473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859274; longitude = -121.960787; captureRadius = 10; duration = 52; initialDepth = 96.869200; finalDepth = 100.635473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:100.635473 # Seafloor depth:-140.635473 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.790935 meters # Minimum depth: 136.869200 meters looking forward 0.000000 meters along route # Maximum depth: 136.869200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.869200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859724; longitude = -121.960902; captureRadius = 10; duration = 52; initialDepth = 93.484292; finalDepth = 96.869200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:96.8692 # Seafloor depth:-136.869200 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.790935 meters # Minimum depth: 133.484292 meters looking forward 0.000000 meters along route # Maximum depth: 133.484292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.484292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860175; longitude = -121.961018; captureRadius = 10; duration = 52; initialDepth = 90.252647; finalDepth = 93.484292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:93.484292 # Seafloor depth:-133.484292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.790935 meters # Minimum depth: 130.252647 meters looking forward 0.000000 meters along route # Maximum depth: 130.252647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.252647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860626; longitude = -121.961134; captureRadius = 10; duration = 52; initialDepth = 86.628979; finalDepth = 90.252647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:90.252647 # Seafloor depth:-130.252647 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.790935 meters # Minimum depth: 126.628979 meters looking forward 0.000000 meters along route # Maximum depth: 126.628979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.628979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861076; longitude = -121.961250; captureRadius = 10; duration = 52; initialDepth = 82.920018; finalDepth = 86.628979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:86.628979 # Seafloor depth:-126.628979 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.790935 meters # Minimum depth: 122.920018 meters looking forward 0.000000 meters along route # Maximum depth: 122.920018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.920018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861527; longitude = -121.961365; captureRadius = 10; duration = 52; initialDepth = 78.802306; finalDepth = 82.920018; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:82.920018 # Seafloor depth:-122.920018 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.790935 meters # Minimum depth: 118.802306 meters looking forward 0.000000 meters along route # Maximum depth: 118.802306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.802306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861978; longitude = -121.961481; captureRadius = 10; duration = 52; initialDepth = 75.446957; finalDepth = 78.802306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:78.802306 # Seafloor depth:-118.802306 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.790935 meters # Minimum depth: 115.446957 meters looking forward 0.000000 meters along route # Maximum depth: 115.446957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.446957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862428; longitude = -121.961597; captureRadius = 10; duration = 52; initialDepth = 73.344075; finalDepth = 75.446957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:75.446957 # Seafloor depth:-115.446957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.790935 meters # Minimum depth: 113.344075 meters looking forward 0.000000 meters along route # Maximum depth: 113.344075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.344075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862879; longitude = -121.961713; captureRadius = 10; duration = 52; initialDepth = 68.603556; finalDepth = 73.344075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:73.344075 # Seafloor depth:-113.344075 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.790935 meters # Minimum depth: 108.603556 meters looking forward 0.000000 meters along route # Maximum depth: 108.603556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.603556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863329; longitude = -121.961828; captureRadius = 10; duration = 52; initialDepth = 64.620080; finalDepth = 68.603556; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.603556 # Seafloor depth:-108.603556 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.790935 meters # Minimum depth: 104.620080 meters looking forward 0.000000 meters along route # Maximum depth: 104.620080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.620080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863780; longitude = -121.961944; captureRadius = 10; duration = 52; initialDepth = 61.828125; finalDepth = 64.620080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.62008 # Seafloor depth:-104.620080 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 40 # Sonar parameter altitude: 50 # Commanded vehicle depth:61.828125 # Seafloor depth:-101.828125 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # # Acoustic update - sent status ping before start of logging # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 52.790935 meters # Minimum depth: 101.828125 meters looking forward 0.000000 meters along route # Maximum depth: 101.828125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 986.243816 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.828125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864246; longitude = -121.962064; captureRadius = 10; duration = 600; initialDepth = 61.828125; finalDepth = 61.828125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 167.712195; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 167.712195; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 160.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 160.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; } # 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