# 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_2v3.rte # Mission File: SoquelCanyon_2v3.cfg # Distance: 37162.338761 (m) # Estimated Time: 26606 (s) 7.391 (hr) # Abort Time: 25200 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 34 # Route Points: 727 # 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: 532.129647 (m) # Abort Vehicle Depth: 557.129647 (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 -121.966809 36.810232 -93.563955 0.000000 3 # 1 -121.989526 36.821076 -497.791130 2356.564666 1 # 2 -122.005610 36.829413 -91.937689 4063.391844 4 # 3 -122.006395 36.828331 -92.745506 4202.353691 3 # 4 -121.991431 36.820536 -513.110977 5792.659421 1 # 5 -121.967706 36.809150 -92.714716 8257.260093 4 # 6 -121.968621 36.808054 -93.020975 8403.708710 3 # 7 -121.992440 36.819409 -520.529510 10873.783007 1 # 8 -122.007329 36.827175 -93.930040 12456.741944 4 # 9 -122.008188 36.825988 -95.094315 12609.092267 3 # 10 -121.991469 36.817442 -532.444992 14376.174640 1 # 11 -121.969499 36.806897 -95.584343 16658.591424 4 # 12 -121.970470 36.805755 -96.060915 16812.068424 3 # 13 -121.992141 36.816360 -542.564346 19075.101638 1 # 14 -122.009123 36.824922 -96.268002 20862.983637 4 # 15 -122.009982 36.823735 -97.183870 21015.334994 3 # 16 -121.992832 36.815128 -553.760880 22818.588007 1 # 17 -121.971479 36.804584 -96.901241 25053.913628 3 # 18 -121.977700 36.806341 -108.871104 25642.165396 3 # 19 -121.976449 36.808654 -102.323914 25922.030411 1 # 20 -121.976336 36.811043 -108.135783 26187.176500 1 # 21 -121.976523 36.812965 -123.482869 26401.125677 1 # 22 -121.976673 36.816315 -105.316671 26772.972041 3 # 23 -121.988125 36.821752 -486.125895 27959.247270 3 # 24 -121.985883 36.823420 -469.715129 28231.631309 1 # 25 -121.981567 36.822969 -455.656616 28619.760674 1 # 26 -121.977812 36.824321 -431.505493 28986.716123 1 # 27 -121.974207 36.828256 -400.429199 29528.955366 1 # 28 -121.973385 36.832973 -361.874674 30057.316927 1 # 29 -121.966267 36.837794 -294.036235 30887.388393 1 # 30 -121.965015 36.843983 -256.456177 31582.962833 1 # 31 -121.960700 36.846056 -205.380839 32031.233076 1 # 32 -121.956889 36.858673 -118.692627 33471.671859 3 # 33 -121.925336 36.880212 -42.097656 37162.338761 4 # # A total of 727 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 25200; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 532.129647; abortDepth = 557.129647; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 2; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 50.380846 meters # Minimum depth: 42.097656 meters looking forward 0.000000 meters along route # Maximum depth: 42.097656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.880212; longitude = -121.925336; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 2.097656; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 39.097656 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-42.097656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 42.097656 meters looking forward 0.000000 meters along route # Maximum depth: 42.097656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.880110; longitude = -121.925485; captureRadius = 10; duration = 50; initialDepth = 2.097656; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 39.097656 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-42.097656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 42.097656 meters looking forward 0.000000 meters along route # Maximum depth: 42.097656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.879804; longitude = -121.925934; captureRadius = 10; duration = 50; initialDepth = 2.095703; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 39.097656 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-42.097656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 42.095703 meters looking forward 0.000000 meters along route # Maximum depth: 42.095703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.879498; longitude = -121.926382; captureRadius = 10; duration = 50; initialDepth = 2.043903; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 39.097656 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-42.095703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 42.043903 meters looking forward 0.000000 meters along route # Maximum depth: 42.043903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.879191; longitude = -121.926832; captureRadius = 10; duration = 50; initialDepth = 1.998269; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 39.095703 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-42.043903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 41.998269 meters looking forward 0.000000 meters along route # Maximum depth: 41.998269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.878876; longitude = -121.927294; captureRadius = 10; duration = 50; initialDepth = 1.995832; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 39.043903 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-41.998269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 41.995832 meters looking forward 0.000000 meters along route # Maximum depth: 41.995832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.878580; longitude = -121.927727; captureRadius = 10; duration = 50; initialDepth = 2.099609; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 38.998269 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-41.995832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 42.099609 meters looking forward 0.000000 meters along route # Maximum depth: 42.099609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.878274; longitude = -121.928176; captureRadius = 10; duration = 50; initialDepth = 2.099609; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 39.099609 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-42.099609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 42.099609 meters looking forward 0.000000 meters along route # Maximum depth: 42.099609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.877968; longitude = -121.928624; captureRadius = 10; duration = 50; initialDepth = 2.113281; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 39.099609 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-42.099609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 42.113281 meters looking forward 0.000000 meters along route # Maximum depth: 42.113281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.877659; longitude = -121.929077; captureRadius = 10; duration = 50; initialDepth = 2.585938; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 39.113281 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-42.113281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 42.585938 meters looking forward 0.000000 meters along route # Maximum depth: 42.585938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.877344; longitude = -121.929539; captureRadius = 10; duration = 50; initialDepth = 5.089585; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 39.585938 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-42.585938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 45.089585 meters looking forward 0.000000 meters along route # Maximum depth: 45.089585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 5.089585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.877050; longitude = -121.929969; captureRadius = 10; duration = 50; initialDepth = 5.699219; finalDepth = 5.089585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:5.089585 # Seafloor depth:-45.089585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 45.699219 meters looking forward 0.000000 meters along route # Maximum depth: 45.699219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 5.699219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.876744; longitude = -121.930417; captureRadius = 10; duration = 50; initialDepth = 5.760039; finalDepth = 5.699219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:5.699219 # Seafloor depth:-45.699219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 45.760039 meters looking forward 0.000000 meters along route # Maximum depth: 45.760039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 5.760039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.876438; longitude = -121.930866; captureRadius = 10; duration = 50; initialDepth = 7.349432; finalDepth = 5.760039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:5.760039 # Seafloor depth:-45.760039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 47.349432 meters looking forward 0.000000 meters along route # Maximum depth: 47.349432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 7.349432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.876127; longitude = -121.931321; captureRadius = 10; duration = 50; initialDepth = 7.500000; finalDepth = 7.349432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:7.349432 # Seafloor depth:-47.349432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 47.500000 meters looking forward 0.000000 meters along route # Maximum depth: 47.500000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 7.500000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.875811; longitude = -121.931783; captureRadius = 10; duration = 50; initialDepth = 7.500000; finalDepth = 7.500000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:7.5 # Seafloor depth:-47.500000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 47.500000 meters looking forward 0.000000 meters along route # Maximum depth: 47.500000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 7.500000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.875519; longitude = -121.932211; captureRadius = 10; duration = 50; initialDepth = 7.500000; finalDepth = 7.500000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:7.5 # Seafloor depth:-47.500000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 47.500000 meters looking forward 0.000000 meters along route # Maximum depth: 47.500000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 7.500000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.875213; longitude = -121.932659; captureRadius = 10; duration = 50; initialDepth = 7.500000; finalDepth = 7.500000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:7.5 # Seafloor depth:-47.500000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 47.500000 meters looking forward 0.000000 meters along route # Maximum depth: 47.500000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 7.500000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.874907; longitude = -121.933107; captureRadius = 10; duration = 50; initialDepth = 8.105605; finalDepth = 7.500000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:7.5 # Seafloor depth:-47.500000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 48.105605 meters looking forward 0.000000 meters along route # Maximum depth: 48.105605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 8.105605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.874595; longitude = -121.933565; captureRadius = 10; duration = 50; initialDepth = 12.974775; finalDepth = 8.105605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:8.105605 # Seafloor depth:-48.105605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 52.974775 meters looking forward 0.000000 meters along route # Maximum depth: 52.974775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 12.974775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.874295; longitude = -121.934004; captureRadius = 10; duration = 50; initialDepth = 13.000000; finalDepth = 12.974775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:12.974775 # Seafloor depth:-52.974775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 53.000000 meters looking forward 0.000000 meters along route # Maximum depth: 53.000000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 13.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.873989; longitude = -121.934453; captureRadius = 10; duration = 50; initialDepth = 13.000000; finalDepth = 13.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:13 # Seafloor depth:-53.000000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 53.000000 meters looking forward 0.000000 meters along route # Maximum depth: 53.000000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 13.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.873683; longitude = -121.934901; captureRadius = 10; duration = 50; initialDepth = 13.000000; finalDepth = 13.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:13 # Seafloor depth:-53.000000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 53.000000 meters looking forward 0.000000 meters along route # Maximum depth: 53.000000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 13.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.873377; longitude = -121.935349; captureRadius = 10; duration = 50; initialDepth = 13.000000; finalDepth = 13.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:13 # Seafloor depth:-53.000000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 53.000000 meters looking forward 0.000000 meters along route # Maximum depth: 53.000000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 13.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.873063; longitude = -121.935810; captureRadius = 10; duration = 50; initialDepth = 13.000000; finalDepth = 13.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:13 # Seafloor depth:-53.000000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 53.000000 meters looking forward 0.000000 meters along route # Maximum depth: 53.000000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 13.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.872765; longitude = -121.936246; captureRadius = 10; duration = 50; initialDepth = 12.967641; finalDepth = 13.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:13 # Seafloor depth:-53.000000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 52.967641 meters looking forward 0.000000 meters along route # Maximum depth: 52.967641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 12.967641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.872459; longitude = -121.936694; captureRadius = 10; duration = 50; initialDepth = 15.080136; finalDepth = 12.967641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:12.967641 # Seafloor depth:-52.967641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 55.080136 meters looking forward 0.000000 meters along route # Maximum depth: 55.080136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 15.080136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.872153; longitude = -121.937143; captureRadius = 10; duration = 50; initialDepth = 18.484375; finalDepth = 15.080136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:15.080136 # Seafloor depth:-55.080136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 58.484375 meters looking forward 0.000000 meters along route # Maximum depth: 58.484375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 18.484375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.871846; longitude = -121.937592; captureRadius = 10; duration = 50; initialDepth = 18.500000; finalDepth = 18.484375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:18.484375 # Seafloor depth:-58.484375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 58.500000 meters looking forward 0.000000 meters along route # Maximum depth: 58.500000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 18.500000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.871531; longitude = -121.938054; captureRadius = 10; duration = 50; initialDepth = 18.500000; finalDepth = 18.500000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:18.5 # Seafloor depth:-58.500000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 58.500000 meters looking forward 0.000000 meters along route # Maximum depth: 58.500000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 18.500000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.871235; longitude = -121.938488; captureRadius = 10; duration = 50; initialDepth = 18.500000; finalDepth = 18.500000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:18.5 # Seafloor depth:-58.500000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 58.500000 meters looking forward 0.000000 meters along route # Maximum depth: 58.500000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 18.500000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.870928; longitude = -121.938936; captureRadius = 10; duration = 50; initialDepth = 18.484072; finalDepth = 18.500000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:18.5 # Seafloor depth:-58.500000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 58.484072 meters looking forward 0.000000 meters along route # Maximum depth: 58.484072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 18.484072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.870622; longitude = -121.939384; captureRadius = 10; duration = 50; initialDepth = 17.352829; finalDepth = 18.484072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:18.484072 # Seafloor depth:-58.484072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 57.352829 meters looking forward 0.000000 meters along route # Maximum depth: 57.352829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 17.352829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.870314; longitude = -121.939836; captureRadius = 10; duration = 50; initialDepth = 17.085627; finalDepth = 17.352829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:17.352829 # Seafloor depth:-57.352829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 57.085627 meters looking forward 0.000000 meters along route # Maximum depth: 57.085627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 17.085627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869999; longitude = -121.940298; captureRadius = 10; duration = 50; initialDepth = 19.911867; finalDepth = 17.085627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:17.085627 # Seafloor depth:-57.085627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 59.911867 meters looking forward 0.000000 meters along route # Maximum depth: 59.911867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 19.911867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869704; longitude = -121.940730; captureRadius = 10; duration = 50; initialDepth = 20.288743; finalDepth = 19.911867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:19.911867 # Seafloor depth:-59.911867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 60.288743 meters looking forward 0.000000 meters along route # Maximum depth: 60.288743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 20.288743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869398; longitude = -121.941178; captureRadius = 10; duration = 50; initialDepth = 21.121588; finalDepth = 20.288743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:20.288743 # Seafloor depth:-60.288743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 61.121588 meters looking forward 0.000000 meters along route # Maximum depth: 61.121588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 21.121588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869092; longitude = -121.941626; captureRadius = 10; duration = 50; initialDepth = 21.845766; finalDepth = 21.121588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:21.121588 # Seafloor depth:-61.121588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 61.845766 meters looking forward 0.000000 meters along route # Maximum depth: 61.845766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 21.845766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868782; longitude = -121.942081; captureRadius = 10; duration = 50; initialDepth = 22.093886; finalDepth = 21.845766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:21.845766 # Seafloor depth:-61.845766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 62.093886 meters looking forward 0.000000 meters along route # Maximum depth: 62.093886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 22.093886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868466; longitude = -121.942543; captureRadius = 10; duration = 50; initialDepth = 22.931593; finalDepth = 22.093886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:22.093886 # Seafloor depth:-62.093886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 62.931593 meters looking forward 0.000000 meters along route # Maximum depth: 62.931593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 22.931593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868174; longitude = -121.942971; captureRadius = 10; duration = 50; initialDepth = 23.579954; finalDepth = 22.931593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:22.931593 # Seafloor depth:-62.931593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 63.579954 meters looking forward 0.000000 meters along route # Maximum depth: 63.579954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 23.579954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867868; longitude = -121.943420; captureRadius = 10; duration = 50; initialDepth = 24.307408; finalDepth = 23.579954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:23.579954 # Seafloor depth:-63.579954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 64.307408 meters looking forward 0.000000 meters along route # Maximum depth: 64.307408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 24.307408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867562; longitude = -121.943868; captureRadius = 10; duration = 50; initialDepth = 25.207444; finalDepth = 24.307408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:24.307408 # Seafloor depth:-64.307408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 65.207444 meters looking forward 0.000000 meters along route # Maximum depth: 65.207444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 25.207444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867250; longitude = -121.944325; captureRadius = 10; duration = 50; initialDepth = 26.171411; finalDepth = 25.207444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:25.207444 # Seafloor depth:-65.207444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 66.171411 meters looking forward 0.000000 meters along route # Maximum depth: 66.171411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 26.171411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866950; longitude = -121.944765; captureRadius = 10; duration = 50; initialDepth = 26.683522; finalDepth = 26.171411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:26.171411 # Seafloor depth:-66.171411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 66.683522 meters looking forward 0.000000 meters along route # Maximum depth: 66.683522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 26.683522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866644; longitude = -121.945213; captureRadius = 10; duration = 50; initialDepth = 27.375855; finalDepth = 26.683522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:26.683522 # Seafloor depth:-66.683522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 67.375855 meters looking forward 0.000000 meters along route # Maximum depth: 67.375855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 27.375855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866337; longitude = -121.945661; captureRadius = 10; duration = 50; initialDepth = 27.867495; finalDepth = 27.375855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:27.375855 # Seafloor depth:-67.375855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 67.867495 meters looking forward 0.000000 meters along route # Maximum depth: 67.867495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 27.867495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866031; longitude = -121.946110; captureRadius = 10; duration = 50; initialDepth = 28.685645; finalDepth = 27.867495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:27.867495 # Seafloor depth:-67.867495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 68.685645 meters looking forward 0.000000 meters along route # Maximum depth: 68.685645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 28.685645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865718; longitude = -121.946569; captureRadius = 10; duration = 50; initialDepth = 29.064687; finalDepth = 28.685645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:28.685645 # Seafloor depth:-68.685645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 69.064687 meters looking forward 0.000000 meters along route # Maximum depth: 69.064687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 29.064687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865419; longitude = -121.947007; captureRadius = 10; duration = 50; initialDepth = 30.232764; finalDepth = 29.064687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:29.064687 # Seafloor depth:-69.064687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 70.232764 meters looking forward 0.000000 meters along route # Maximum depth: 70.232764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 30.232764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865113; longitude = -121.947455; captureRadius = 10; duration = 50; initialDepth = 31.114136; finalDepth = 30.232764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:30.232764 # Seafloor depth:-70.232764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 71.114136 meters looking forward 0.000000 meters along route # Maximum depth: 71.114136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 31.114136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864807; longitude = -121.947903; captureRadius = 10; duration = 50; initialDepth = 30.891872; finalDepth = 31.114136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:31.114136 # Seafloor depth:-71.114136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 70.891872 meters looking forward 0.000000 meters along route # Maximum depth: 70.891872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 30.891872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864501; longitude = -121.948352; captureRadius = 10; duration = 50; initialDepth = 32.295857; finalDepth = 30.891872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:30.891872 # Seafloor depth:-70.891872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 72.295857 meters looking forward 0.000000 meters along route # Maximum depth: 72.295857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 32.295857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864186; longitude = -121.948814; captureRadius = 10; duration = 50; initialDepth = 34.269731; finalDepth = 32.295857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:32.295857 # Seafloor depth:-72.295857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 74.269731 meters looking forward 0.000000 meters along route # Maximum depth: 74.269731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 34.269731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863889; longitude = -121.949248; captureRadius = 10; duration = 50; initialDepth = 34.680711; finalDepth = 34.269731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:34.269731 # Seafloor depth:-74.269731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 74.680711 meters looking forward 0.000000 meters along route # Maximum depth: 74.680711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 34.680711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863583; longitude = -121.949697; captureRadius = 10; duration = 50; initialDepth = 36.072224; finalDepth = 34.680711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:34.680711 # Seafloor depth:-74.680711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 76.072224 meters looking forward 0.000000 meters along route # Maximum depth: 76.072224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 36.072224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863277; longitude = -121.950145; captureRadius = 10; duration = 50; initialDepth = 37.603777; finalDepth = 36.072224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:36.072224 # Seafloor depth:-76.072224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 77.603777 meters looking forward 0.000000 meters along route # Maximum depth: 77.603777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.603777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862969; longitude = -121.950596; captureRadius = 10; duration = 50; initialDepth = 39.380515; finalDepth = 37.603777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:37.603777 # Seafloor depth:-77.603777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 79.380515 meters looking forward 0.000000 meters along route # Maximum depth: 79.380515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 39.380515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862653; longitude = -121.951058; captureRadius = 10; duration = 50; initialDepth = 40.231416; finalDepth = 39.380515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:39.380515 # Seafloor depth:-79.380515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 80.231416 meters looking forward 0.000000 meters along route # Maximum depth: 80.231416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 40.231416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862359; longitude = -121.951490; captureRadius = 10; duration = 50; initialDepth = 41.496649; finalDepth = 40.231416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:40.231416 # Seafloor depth:-80.231416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 81.496649 meters looking forward 0.000000 meters along route # Maximum depth: 81.496649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.496649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862052; longitude = -121.951938; captureRadius = 10; duration = 50; initialDepth = 42.878744; finalDepth = 41.496649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:41.496649 # Seafloor depth:-81.496649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 82.878744 meters looking forward 0.000000 meters along route # Maximum depth: 82.878744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 42.878744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861746; longitude = -121.952387; captureRadius = 10; duration = 50; initialDepth = 44.680443; finalDepth = 42.878744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:42.878744 # Seafloor depth:-82.878744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 84.680443 meters looking forward 0.000000 meters along route # Maximum depth: 84.680443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.680443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861437; longitude = -121.952840; captureRadius = 10; duration = 50; initialDepth = 46.953304; finalDepth = 44.680443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:44.680443 # Seafloor depth:-84.680443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 86.953304 meters looking forward 0.000000 meters along route # Maximum depth: 86.953304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.953304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861121; longitude = -121.953302; captureRadius = 10; duration = 50; initialDepth = 48.865775; finalDepth = 46.953304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:46.953304 # Seafloor depth:-86.953304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 88.865775 meters looking forward 0.000000 meters along route # Maximum depth: 88.865775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.865775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860828; longitude = -121.953732; captureRadius = 10; duration = 50; initialDepth = 52.164156; finalDepth = 48.865775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:48.865775 # Seafloor depth:-88.865775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 92.164156 meters looking forward 0.000000 meters along route # Maximum depth: 92.164156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.164156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860522; longitude = -121.954180; captureRadius = 10; duration = 50; initialDepth = 56.005113; finalDepth = 52.164156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.164156 # Seafloor depth:-92.164156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.005113 meters looking forward 0.000000 meters along route # Maximum depth: 96.005113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.005113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860216; longitude = -121.954629; captureRadius = 10; duration = 50; initialDepth = 59.437808; finalDepth = 56.005113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.005113 # Seafloor depth:-96.005113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 99.437808 meters looking forward 0.000000 meters along route # Maximum depth: 99.437808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.437808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859905; longitude = -121.955085; captureRadius = 10; duration = 50; initialDepth = 62.642389; finalDepth = 59.437808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.437808 # Seafloor depth:-99.437808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 102.642389 meters looking forward 0.000000 meters along route # Maximum depth: 102.642389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.642389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859604; longitude = -121.955525; captureRadius = 10; duration = 50; initialDepth = 66.874591; finalDepth = 62.642389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.642389 # Seafloor depth:-102.642389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 106.874591 meters looking forward 0.000000 meters along route # Maximum depth: 106.874591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.874591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859298; longitude = -121.955974; captureRadius = 10; duration = 50; initialDepth = 72.547447; finalDepth = 66.874591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.874591 # Seafloor depth:-106.874591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 112.547447 meters looking forward 0.000000 meters along route # Maximum depth: 112.547447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.547447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858992; longitude = -121.956422; captureRadius = 10; duration = 50; initialDepth = 78.692627; finalDepth = 72.547447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:72.547447 # Seafloor depth:-112.547447 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 32 # Segment length 50.380846 meters # Minimum depth: 118.692627 meters looking forward 0.000000 meters along route # Maximum depth: 118.692627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.692627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858673; longitude = -121.956889; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 82.603312; finalDepth = 78.692627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:78.692627 # Seafloor depth:-118.692627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 122.603312 meters looking forward 0.000000 meters along route # Maximum depth: 122.603312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.603312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858237; longitude = -121.957021; captureRadius = 10; duration = 50; initialDepth = 84.752000; finalDepth = 82.603312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:82.603312 # Seafloor depth:-122.603312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 124.752000 meters looking forward 0.000000 meters along route # Maximum depth: 124.752000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.752000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857787; longitude = -121.957157; captureRadius = 10; duration = 50; initialDepth = 87.738696; finalDepth = 84.752000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:84.752 # Seafloor depth:-124.752000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 127.738696 meters looking forward 0.000000 meters along route # Maximum depth: 127.738696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 87.738696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857336; longitude = -121.957293; captureRadius = 10; duration = 50; initialDepth = 90.878031; finalDepth = 87.738696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:87.738696 # Seafloor depth:-127.738696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 130.878031 meters looking forward 0.000000 meters along route # Maximum depth: 130.878031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.878031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856879; longitude = -121.957431; captureRadius = 10; duration = 50; initialDepth = 93.734891; finalDepth = 90.878031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:90.878031 # Seafloor depth:-130.878031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 133.734891 meters looking forward 0.000000 meters along route # Maximum depth: 133.734891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.734891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856435; longitude = -121.957565; captureRadius = 10; duration = 50; initialDepth = 95.352295; finalDepth = 93.734891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:93.734891 # Seafloor depth:-133.734891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 135.352295 meters looking forward 0.000000 meters along route # Maximum depth: 135.352295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.352295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855984; longitude = -121.957701; captureRadius = 10; duration = 50; initialDepth = 91.272894; finalDepth = 95.352295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:95.352295 # Seafloor depth:-135.352295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 131.272894 meters looking forward 0.000000 meters along route # Maximum depth: 131.272894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.272894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855534; longitude = -121.957837; captureRadius = 10; duration = 50; initialDepth = 88.231451; finalDepth = 91.272894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:91.272894 # Seafloor depth:-131.272894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 128.231451 meters looking forward 0.000000 meters along route # Maximum depth: 128.231451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.231451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855083; longitude = -121.957973; captureRadius = 10; duration = 50; initialDepth = 92.304590; finalDepth = 88.231451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:88.231451 # Seafloor depth:-128.231451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 132.304590 meters looking forward 0.000000 meters along route # Maximum depth: 132.304590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.304590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854632; longitude = -121.958109; captureRadius = 10; duration = 50; initialDepth = 101.479402; finalDepth = 92.304590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:92.30459 # Seafloor depth:-132.304590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 141.479402 meters looking forward 0.000000 meters along route # Maximum depth: 141.479402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.479402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854182; longitude = -121.958246; captureRadius = 10; duration = 50; initialDepth = 108.521445; finalDepth = 101.479402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:101.479402 # Seafloor depth:-141.479402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 148.521445 meters looking forward 0.000000 meters along route # Maximum depth: 148.521445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.521445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853725; longitude = -121.958384; captureRadius = 10; duration = 50; initialDepth = 114.668798; finalDepth = 108.521445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:108.521445 # Seafloor depth:-148.521445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 154.668798 meters looking forward 0.000000 meters along route # Maximum depth: 154.668798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.668798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853281; longitude = -121.958518; captureRadius = 10; duration = 50; initialDepth = 124.538929; finalDepth = 114.668798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:114.668798 # Seafloor depth:-154.668798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 164.538929 meters looking forward 0.000000 meters along route # Maximum depth: 164.538929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.538929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852830; longitude = -121.958654; captureRadius = 10; duration = 50; initialDepth = 129.099668; finalDepth = 124.538929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:124.538929 # Seafloor depth:-164.538929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 169.099668 meters looking forward 0.000000 meters along route # Maximum depth: 169.099668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.099668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852379; longitude = -121.958790; captureRadius = 10; duration = 50; initialDepth = 136.218086; finalDepth = 129.099668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:129.099668 # Seafloor depth:-169.099668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 176.218086 meters looking forward 0.000000 meters along route # Maximum depth: 176.218086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.218086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851929; longitude = -121.958926; captureRadius = 10; duration = 50; initialDepth = 142.118260; finalDepth = 136.218086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:136.218086 # Seafloor depth:-176.218086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 182.118260 meters looking forward 0.000000 meters along route # Maximum depth: 182.118260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.118260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851478; longitude = -121.959062; captureRadius = 10; duration = 50; initialDepth = 145.999941; finalDepth = 142.118260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:142.11826 # Seafloor depth:-182.118260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 185.999941 meters looking forward 0.000000 meters along route # Maximum depth: 185.999941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.999941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851028; longitude = -121.959198; captureRadius = 10; duration = 50; initialDepth = 150.703488; finalDepth = 145.999941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:145.999941 # Seafloor depth:-185.999941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 190.703488 meters looking forward 0.000000 meters along route # Maximum depth: 190.703488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.703488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850571; longitude = -121.959336; captureRadius = 10; duration = 50; initialDepth = 155.001251; finalDepth = 150.703488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:150.703488 # Seafloor depth:-190.703488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 195.001251 meters looking forward 0.000000 meters along route # Maximum depth: 195.001251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.001251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850126; longitude = -121.959471; captureRadius = 10; duration = 50; initialDepth = 156.063899; finalDepth = 155.001251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:155.001251 # Seafloor depth:-195.001251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 196.063899 meters looking forward 0.000000 meters along route # Maximum depth: 196.063899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.063899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849676; longitude = -121.959607; captureRadius = 10; duration = 50; initialDepth = 157.858624; finalDepth = 156.063899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:156.063899 # Seafloor depth:-196.063899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 197.858624 meters looking forward 0.000000 meters along route # Maximum depth: 197.858624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.858624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849225; longitude = -121.959743; captureRadius = 10; duration = 50; initialDepth = 163.306649; finalDepth = 157.858624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:157.858624 # Seafloor depth:-197.858624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 203.306649 meters looking forward 0.000000 meters along route # Maximum depth: 203.306649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.306649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848774; longitude = -121.959879; captureRadius = 10; duration = 50; initialDepth = 167.953832; finalDepth = 163.306649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:163.306649 # Seafloor depth:-203.306649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 207.953832 meters looking forward 0.000000 meters along route # Maximum depth: 207.953832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.953832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848324; longitude = -121.960015; captureRadius = 10; duration = 50; initialDepth = 175.158448; finalDepth = 167.953832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:167.953832 # Seafloor depth:-207.953832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 215.158448 meters looking forward 0.000000 meters along route # Maximum depth: 215.158448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.158448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847873; longitude = -121.960151; captureRadius = 10; duration = 50; initialDepth = 174.858136; finalDepth = 175.158448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:175.158448 # Seafloor depth:-215.158448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 214.858136 meters looking forward 0.000000 meters along route # Maximum depth: 214.858136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.858136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847416; longitude = -121.960289; captureRadius = 10; duration = 50; initialDepth = 174.984234; finalDepth = 174.858136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:174.858136 # Seafloor depth:-214.858136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 214.984234 meters looking forward 0.000000 meters along route # Maximum depth: 214.984234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.984234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846972; longitude = -121.960423; captureRadius = 10; duration = 50; initialDepth = 169.435664; finalDepth = 174.984234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:174.984234 # Seafloor depth:-214.984234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 209.435664 meters looking forward 0.000000 meters along route # Maximum depth: 209.435664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.435664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846521; longitude = -121.960559; captureRadius = 10; duration = 50; initialDepth = 165.380839; finalDepth = 169.435664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:169.435664 # Seafloor depth:-209.435664 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 meters # Minimum depth: 205.380839 meters looking forward 0.000000 meters along route # Maximum depth: 205.380839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.380839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846056; longitude = -121.960700; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 171.915758; finalDepth = 165.380839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:165.380839 # Seafloor depth:-205.380839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 211.915758 meters looking forward 0.000000 meters along route # Maximum depth: 211.915758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.915758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845930; longitude = -121.960962; captureRadius = 10; duration = 50; initialDepth = 183.037011; finalDepth = 171.915758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:171.915758 # Seafloor depth:-211.915758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 223.037011 meters looking forward 0.000000 meters along route # Maximum depth: 223.037011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 183.037011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845688; longitude = -121.961466; captureRadius = 10; duration = 50; initialDepth = 190.586235; finalDepth = 183.037011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:183.037011 # Seafloor depth:-223.037011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 230.586235 meters looking forward 0.000000 meters along route # Maximum depth: 230.586235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.586235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845440; longitude = -121.961982; captureRadius = 10; duration = 50; initialDepth = 195.931429; finalDepth = 190.586235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:190.586235 # Seafloor depth:-230.586235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 235.931429 meters looking forward 0.000000 meters along route # Maximum depth: 235.931429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 195.931429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845203; longitude = -121.962475; captureRadius = 10; duration = 50; initialDepth = 201.320887; finalDepth = 195.931429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:195.931429 # Seafloor depth:-235.931429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 241.320887 meters looking forward 0.000000 meters along route # Maximum depth: 241.320887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.320887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844961; longitude = -121.962979; captureRadius = 10; duration = 50; initialDepth = 210.904658; finalDepth = 201.320887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:201.320887 # Seafloor depth:-241.320887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 250.904658 meters looking forward 0.000000 meters along route # Maximum depth: 250.904658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.904658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844719; longitude = -121.963484; captureRadius = 10; duration = 50; initialDepth = 217.667678; finalDepth = 210.904658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:210.904658 # Seafloor depth:-250.904658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 257.667678 meters looking forward 0.000000 meters along route # Maximum depth: 257.667678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.667678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844476; longitude = -121.963988; captureRadius = 10; duration = 50; initialDepth = 218.742037; finalDepth = 217.667678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:217.667678 # Seafloor depth:-257.667678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 258.742037 meters looking forward 0.000000 meters along route # Maximum depth: 258.742037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.742037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844223; longitude = -121.964515; captureRadius = 10; duration = 50; initialDepth = 216.456177; finalDepth = 218.742037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:218.742037 # Seafloor depth:-258.742037 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 meters # Minimum depth: 256.456177 meters looking forward 0.000000 meters along route # Maximum depth: 256.456177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.456177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843983; longitude = -121.965015; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 218.787013; finalDepth = 216.456177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:216.456177 # Seafloor depth:-256.456177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 258.787013 meters looking forward 0.000000 meters along route # Maximum depth: 258.787013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.787013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843682; longitude = -121.965076; captureRadius = 10; duration = 50; initialDepth = 222.947121; finalDepth = 218.787013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:218.787013 # Seafloor depth:-258.787013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 262.947121 meters looking forward 0.000000 meters along route # Maximum depth: 262.947121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.947121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843232; longitude = -121.965167; captureRadius = 10; duration = 50; initialDepth = 227.352981; finalDepth = 222.947121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:222.947121 # Seafloor depth:-262.947121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 267.352981 meters looking forward 0.000000 meters along route # Maximum depth: 267.352981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.352981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842781; longitude = -121.965259; captureRadius = 10; duration = 50; initialDepth = 230.875506; finalDepth = 227.352981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:227.352981 # Seafloor depth:-267.352981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 270.875506 meters looking forward 0.000000 meters along route # Maximum depth: 270.875506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.875506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842331; longitude = -121.965350; captureRadius = 10; duration = 50; initialDepth = 234.516231; finalDepth = 230.875506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:230.875506 # Seafloor depth:-270.875506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 274.516231 meters looking forward 0.000000 meters along route # Maximum depth: 274.516231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.516231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841880; longitude = -121.965441; captureRadius = 10; duration = 50; initialDepth = 238.116219; finalDepth = 234.516231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:234.516231 # Seafloor depth:-274.516231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 278.116219 meters looking forward 0.000000 meters along route # Maximum depth: 278.116219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 238.116219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841429; longitude = -121.965532; captureRadius = 10; duration = 50; initialDepth = 242.494072; finalDepth = 238.116219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:238.116219 # Seafloor depth:-278.116219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 282.494072 meters looking forward 0.000000 meters along route # Maximum depth: 282.494072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.494072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840979; longitude = -121.965623; captureRadius = 10; duration = 50; initialDepth = 249.826432; finalDepth = 242.494072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:242.494072 # Seafloor depth:-282.494072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 289.826432 meters looking forward 0.000000 meters along route # Maximum depth: 289.826432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 249.826432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840528; longitude = -121.965714; captureRadius = 10; duration = 50; initialDepth = 257.136849; finalDepth = 249.826432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:249.826432 # Seafloor depth:-289.826432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 297.136849 meters looking forward 0.000000 meters along route # Maximum depth: 297.136849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.136849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840078; longitude = -121.965805; captureRadius = 10; duration = 50; initialDepth = 256.978175; finalDepth = 257.136849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:257.136849 # Seafloor depth:-297.136849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 296.978175 meters looking forward 0.000000 meters along route # Maximum depth: 296.978175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 256.978175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839627; longitude = -121.965897; captureRadius = 10; duration = 50; initialDepth = 256.038881; finalDepth = 256.978175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:256.978175 # Seafloor depth:-296.978175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 296.038881 meters looking forward 0.000000 meters along route # Maximum depth: 296.038881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 256.038881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839176; longitude = -121.965988; captureRadius = 10; duration = 50; initialDepth = 255.564816; finalDepth = 256.038881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:256.038881 # Seafloor depth:-296.038881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 295.564816 meters looking forward 0.000000 meters along route # Maximum depth: 295.564816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.564816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838726; longitude = -121.966079; captureRadius = 10; duration = 50; initialDepth = 255.224175; finalDepth = 255.564816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:255.564816 # Seafloor depth:-295.564816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 295.224175 meters looking forward 0.000000 meters along route # Maximum depth: 295.224175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.224175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838256; longitude = -121.966174; captureRadius = 10; duration = 50; initialDepth = 254.036235; finalDepth = 255.224175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:255.224175 # Seafloor depth:-295.224175 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 meters # Minimum depth: 294.036235 meters looking forward 0.000000 meters along route # Maximum depth: 294.036235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.036235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837794; longitude = -121.966267; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 259.096104; finalDepth = 254.036235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:254.036235 # Seafloor depth:-294.036235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 299.096104 meters looking forward 0.000000 meters along route # Maximum depth: 299.096104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.096104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837509; longitude = -121.966688; captureRadius = 10; duration = 50; initialDepth = 267.213574; finalDepth = 259.096104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:259.096104 # Seafloor depth:-299.096104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 307.213574 meters looking forward 0.000000 meters along route # Maximum depth: 307.213574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 267.213574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837212; longitude = -121.967127; captureRadius = 10; duration = 50; initialDepth = 277.102354; finalDepth = 267.213574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:267.213574 # Seafloor depth:-307.213574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 317.102354 meters looking forward 0.000000 meters along route # Maximum depth: 317.102354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 277.102354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836909; longitude = -121.967575; captureRadius = 10; duration = 50; initialDepth = 288.242565; finalDepth = 277.102354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:277.102354 # Seafloor depth:-317.102354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 328.242565 meters looking forward 0.000000 meters along route # Maximum depth: 328.242565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.242565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836605; longitude = -121.968023; captureRadius = 10; duration = 50; initialDepth = 292.375808; finalDepth = 288.242565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:288.242565 # Seafloor depth:-328.242565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 332.375808 meters looking forward 0.000000 meters along route # Maximum depth: 332.375808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.375808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836292; longitude = -121.968484; captureRadius = 10; duration = 50; initialDepth = 294.471457; finalDepth = 292.375808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:292.375808 # Seafloor depth:-332.375808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 334.471457 meters looking forward 0.000000 meters along route # Maximum depth: 334.471457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.471457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835997; longitude = -121.968920; captureRadius = 10; duration = 50; initialDepth = 296.830196; finalDepth = 294.471457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:294.471457 # Seafloor depth:-334.471457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 336.830196 meters looking forward 0.000000 meters along route # Maximum depth: 336.830196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.830196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835694; longitude = -121.969368; captureRadius = 10; duration = 50; initialDepth = 300.617666; finalDepth = 296.830196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:296.830196 # Seafloor depth:-336.830196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 340.617666 meters looking forward 0.000000 meters along route # Maximum depth: 340.617666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.617666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835390; longitude = -121.969817; captureRadius = 10; duration = 50; initialDepth = 303.286105; finalDepth = 300.617666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:300.617666 # Seafloor depth:-340.617666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 343.286105 meters looking forward 0.000000 meters along route # Maximum depth: 343.286105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 303.286105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835076; longitude = -121.970281; captureRadius = 10; duration = 50; initialDepth = 307.001781; finalDepth = 303.286105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:303.286105 # Seafloor depth:-343.286105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 347.001781 meters looking forward 0.000000 meters along route # Maximum depth: 347.001781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 307.001781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834782; longitude = -121.970713; captureRadius = 10; duration = 50; initialDepth = 310.421126; finalDepth = 307.001781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:307.001781 # Seafloor depth:-347.001781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 350.421126 meters looking forward 0.000000 meters along route # Maximum depth: 350.421126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 310.421126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834479; longitude = -121.971162; captureRadius = 10; duration = 50; initialDepth = 313.330826; finalDepth = 310.421126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:310.421126 # Seafloor depth:-350.421126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 353.330826 meters looking forward 0.000000 meters along route # Maximum depth: 353.330826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.330826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834174; longitude = -121.971611; captureRadius = 10; duration = 50; initialDepth = 315.378169; finalDepth = 313.330826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:313.330826 # Seafloor depth:-353.330826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 355.378169 meters looking forward 0.000000 meters along route # Maximum depth: 355.378169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.378169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833859; longitude = -121.972077; captureRadius = 10; duration = 50; initialDepth = 317.098393; finalDepth = 315.378169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:315.378169 # Seafloor depth:-355.378169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 357.098393 meters looking forward 0.000000 meters along route # Maximum depth: 357.098393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 317.098393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833568; longitude = -121.972507; captureRadius = 10; duration = 50; initialDepth = 319.617521; finalDepth = 317.098393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:317.098393 # Seafloor depth:-357.098393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 359.617521 meters looking forward 0.000000 meters along route # Maximum depth: 359.617521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 319.617521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833264; longitude = -121.972955; captureRadius = 10; duration = 50; initialDepth = 321.874674; finalDepth = 319.617521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:319.617521 # Seafloor depth:-359.617521 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 meters # Minimum depth: 361.874674 meters looking forward 0.000000 meters along route # Maximum depth: 361.874674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 321.874674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832973; longitude = -121.973385; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 323.105440; finalDepth = 321.874674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:321.874674 # Seafloor depth:-361.874674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 363.105440 meters looking forward 0.000000 meters along route # Maximum depth: 363.105440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.105440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832778; longitude = -121.973419; captureRadius = 10; duration = 50; initialDepth = 326.410701; finalDepth = 323.105440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:323.10544 # Seafloor depth:-363.105440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 366.410701 meters looking forward 0.000000 meters along route # Maximum depth: 366.410701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.410701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832327; longitude = -121.973497; captureRadius = 10; duration = 50; initialDepth = 331.121692; finalDepth = 326.410701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:326.410701 # Seafloor depth:-366.410701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 371.121692 meters looking forward 0.000000 meters along route # Maximum depth: 371.121692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.121692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831876; longitude = -121.973576; captureRadius = 10; duration = 50; initialDepth = 335.942722; finalDepth = 331.121692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:331.121692 # Seafloor depth:-371.121692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 375.942722 meters looking forward 0.000000 meters along route # Maximum depth: 375.942722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.942722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831426; longitude = -121.973654; captureRadius = 10; duration = 50; initialDepth = 342.070252; finalDepth = 335.942722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:335.942722 # Seafloor depth:-375.942722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 382.070252 meters looking forward 0.000000 meters along route # Maximum depth: 382.070252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.070252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830975; longitude = -121.973733; captureRadius = 10; duration = 50; initialDepth = 348.309716; finalDepth = 342.070252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:342.070252 # Seafloor depth:-382.070252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 388.309716 meters looking forward 0.000000 meters along route # Maximum depth: 388.309716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.309716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830524; longitude = -121.973812; captureRadius = 10; duration = 50; initialDepth = 353.117451; finalDepth = 348.309716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:348.309716 # Seafloor depth:-388.309716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 393.117451 meters looking forward 0.000000 meters along route # Maximum depth: 393.117451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.117451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830074; longitude = -121.973890; captureRadius = 10; duration = 50; initialDepth = 356.237875; finalDepth = 353.117451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:353.117451 # Seafloor depth:-393.117451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 396.237875 meters looking forward 0.000000 meters along route # Maximum depth: 396.237875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.237875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829623; longitude = -121.973969; captureRadius = 10; duration = 50; initialDepth = 359.452633; finalDepth = 356.237875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:356.237875 # Seafloor depth:-396.237875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 399.452633 meters looking forward 0.000000 meters along route # Maximum depth: 399.452633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.452633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829173; longitude = -121.974047; captureRadius = 10; duration = 50; initialDepth = 360.828210; finalDepth = 359.452633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:359.452633 # Seafloor depth:-399.452633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 400.828210 meters looking forward 0.000000 meters along route # Maximum depth: 400.828210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.828210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828722; longitude = -121.974126; captureRadius = 10; duration = 50; initialDepth = 360.429199; finalDepth = 360.828210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:360.82821 # Seafloor depth:-400.828210 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 meters # Minimum depth: 400.429199 meters looking forward 0.000000 meters along route # Maximum depth: 400.429199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.429199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828256; longitude = -121.974207; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 363.826026; finalDepth = 360.429199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:360.429199 # Seafloor depth:-400.429199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 403.826026 meters looking forward 0.000000 meters along route # Maximum depth: 403.826026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.826026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828032; longitude = -121.974412; captureRadius = 10; duration = 50; initialDepth = 368.257224; finalDepth = 363.826026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:363.826026 # Seafloor depth:-403.826026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 408.257224 meters looking forward 0.000000 meters along route # Maximum depth: 408.257224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.257224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827665; longitude = -121.974749; captureRadius = 10; duration = 50; initialDepth = 372.278071; finalDepth = 368.257224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:368.257224 # Seafloor depth:-408.257224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 412.278071 meters looking forward 0.000000 meters along route # Maximum depth: 412.278071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.278071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827298; longitude = -121.975085; captureRadius = 10; duration = 50; initialDepth = 376.282405; finalDepth = 372.278071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.278071 # Seafloor depth:-412.278071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 416.282405 meters looking forward 0.000000 meters along route # Maximum depth: 416.282405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.282405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826931; longitude = -121.975421; captureRadius = 10; duration = 50; initialDepth = 379.474696; finalDepth = 376.282405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:376.282405 # Seafloor depth:-416.282405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 419.474696 meters looking forward 0.000000 meters along route # Maximum depth: 419.474696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.474696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826564; longitude = -121.975757; captureRadius = 10; duration = 50; initialDepth = 381.662976; finalDepth = 379.474696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:379.474696 # Seafloor depth:-419.474696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 421.662976 meters looking forward 0.000000 meters along route # Maximum depth: 421.662976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.662976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826197; longitude = -121.976094; captureRadius = 10; duration = 50; initialDepth = 384.278531; finalDepth = 381.662976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.662976 # Seafloor depth:-421.662976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 424.278531 meters looking forward 0.000000 meters along route # Maximum depth: 424.278531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.278531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825830; longitude = -121.976430; captureRadius = 10; duration = 50; initialDepth = 386.261859; finalDepth = 384.278531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:384.278531 # Seafloor depth:-424.278531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 426.261859 meters looking forward 0.000000 meters along route # Maximum depth: 426.261859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.261859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825463; longitude = -121.976766; captureRadius = 10; duration = 50; initialDepth = 388.132494; finalDepth = 386.261859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:386.261859 # Seafloor depth:-426.261859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 428.132494 meters looking forward 0.000000 meters along route # Maximum depth: 428.132494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.132494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825096; longitude = -121.977102; captureRadius = 10; duration = 50; initialDepth = 389.880662; finalDepth = 388.132494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.132494 # Seafloor depth:-428.132494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 429.880662 meters looking forward 0.000000 meters along route # Maximum depth: 429.880662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.880662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824711; longitude = -121.977455; captureRadius = 10; duration = 50; initialDepth = 391.505493; finalDepth = 389.880662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.880662 # Seafloor depth:-429.880662 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 meters # Minimum depth: 431.505493 meters looking forward 0.000000 meters along route # Maximum depth: 431.505493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.505493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824321; longitude = -121.977812; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 393.511126; finalDepth = 391.505493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:391.505493 # Seafloor depth:-431.505493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 433.511126 meters looking forward 0.000000 meters along route # Maximum depth: 433.511126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.511126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824133; longitude = -121.978335; captureRadius = 10; duration = 50; initialDepth = 396.860482; finalDepth = 393.511126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.511126 # Seafloor depth:-433.511126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 436.860482 meters looking forward 0.000000 meters along route # Maximum depth: 436.860482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.860482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823945; longitude = -121.978855; captureRadius = 10; duration = 50; initialDepth = 399.724104; finalDepth = 396.860482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.860482 # Seafloor depth:-436.860482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 439.724104 meters looking forward 0.000000 meters along route # Maximum depth: 439.724104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.724104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823749; longitude = -121.979400; captureRadius = 10; duration = 50; initialDepth = 404.667191; finalDepth = 399.724104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.724104 # Seafloor depth:-439.724104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 444.667191 meters looking forward 0.000000 meters along route # Maximum depth: 444.667191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.667191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823547; longitude = -121.979961; captureRadius = 10; duration = 50; initialDepth = 408.471809; finalDepth = 404.667191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:404.667191 # Seafloor depth:-444.667191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 448.471809 meters looking forward 0.000000 meters along route # Maximum depth: 448.471809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.471809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823360; longitude = -121.980483; captureRadius = 10; duration = 50; initialDepth = 410.981767; finalDepth = 408.471809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:408.471809 # Seafloor depth:-448.471809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 450.981767 meters looking forward 0.000000 meters along route # Maximum depth: 450.981767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.981767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823164; longitude = -121.981026; captureRadius = 10; duration = 50; initialDepth = 415.656616; finalDepth = 410.981767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.981767 # Seafloor depth:-450.981767 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 meters # Minimum depth: 455.656616 meters looking forward 0.000000 meters along route # Maximum depth: 455.656616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.656616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822969; longitude = -121.981567; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 417.103309; finalDepth = 415.656616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:415.656616 # Seafloor depth:-455.656616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 457.103309 meters looking forward 0.000000 meters along route # Maximum depth: 457.103309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.103309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823006; longitude = -121.981922; captureRadius = 10; duration = 50; initialDepth = 417.459076; finalDepth = 417.103309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.103309 # Seafloor depth:-457.103309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 457.459076 meters looking forward 0.000000 meters along route # Maximum depth: 457.459076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.459076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823065; longitude = -121.982483; captureRadius = 10; duration = 50; initialDepth = 416.821987; finalDepth = 417.459076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.459076 # Seafloor depth:-457.459076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 456.821987 meters looking forward 0.000000 meters along route # Maximum depth: 456.821987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.821987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823123; longitude = -121.983043; captureRadius = 10; duration = 50; initialDepth = 420.081003; finalDepth = 416.821987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:416.821987 # Seafloor depth:-456.821987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 460.081003 meters looking forward 0.000000 meters along route # Maximum depth: 460.081003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.081003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823182; longitude = -121.983604; captureRadius = 10; duration = 50; initialDepth = 421.126741; finalDepth = 420.081003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:420.081003 # Seafloor depth:-460.081003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 461.126741 meters looking forward 0.000000 meters along route # Maximum depth: 461.126741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.126741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823240; longitude = -121.984164; captureRadius = 10; duration = 50; initialDepth = 423.596732; finalDepth = 421.126741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.126741 # Seafloor depth:-461.126741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 463.596732 meters looking forward 0.000000 meters along route # Maximum depth: 463.596732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.596732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823299; longitude = -121.984725; captureRadius = 10; duration = 50; initialDepth = 427.208405; finalDepth = 423.596732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:423.596732 # Seafloor depth:-463.596732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 467.208405 meters looking forward 0.000000 meters along route # Maximum depth: 467.208405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.208405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823360; longitude = -121.985307; captureRadius = 10; duration = 50; initialDepth = 429.715129; finalDepth = 427.208405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:427.208405 # Seafloor depth:-467.208405 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 meters # Minimum depth: 469.715129 meters looking forward 0.000000 meters along route # Maximum depth: 469.715129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.715129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823420; longitude = -121.985883; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 430.358895; finalDepth = 429.715129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.715129 # Seafloor depth:-469.715129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 470.358895 meters looking forward 0.000000 meters along route # Maximum depth: 470.358895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.358895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823360; longitude = -121.985964; captureRadius = 10; duration = 50; initialDepth = 433.441873; finalDepth = 430.358895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:430.358895 # Seafloor depth:-470.358895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 473.441873 meters looking forward 0.000000 meters along route # Maximum depth: 473.441873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.441873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823044; longitude = -121.986388; captureRadius = 10; duration = 50; initialDepth = 435.573716; finalDepth = 433.441873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:433.441873 # Seafloor depth:-473.441873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 475.573716 meters looking forward 0.000000 meters along route # Maximum depth: 475.573716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.573716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822729; longitude = -121.986812; captureRadius = 10; duration = 50; initialDepth = 439.272717; finalDepth = 435.573716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.573716 # Seafloor depth:-475.573716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 479.272717 meters looking forward 0.000000 meters along route # Maximum depth: 479.272717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.272717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822405; longitude = -121.987247; captureRadius = 10; duration = 50; initialDepth = 443.232533; finalDepth = 439.272717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:439.272717 # Seafloor depth:-479.272717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 483.232533 meters looking forward 0.000000 meters along route # Maximum depth: 483.232533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.232533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822072; longitude = -121.987695; captureRadius = 10; duration = 50; initialDepth = 446.125895; finalDepth = 443.232533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.232533 # Seafloor depth:-483.232533 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 23 # Segment length 50.380846 meters # Minimum depth: 486.125895 meters looking forward 0.000000 meters along route # Maximum depth: 486.125895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.125895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821752; longitude = -121.988125; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 443.878663; finalDepth = 446.125895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:446.125895 # Seafloor depth:-486.125895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 483.878663 meters looking forward 0.000000 meters along route # Maximum depth: 483.878663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.878663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821575; longitude = -121.987751; captureRadius = 10; duration = 50; initialDepth = 440.810572; finalDepth = 443.878663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.878663 # Seafloor depth:-483.878663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 480.810572 meters looking forward 0.000000 meters along route # Maximum depth: 480.810572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.810572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821332; longitude = -121.987239; captureRadius = 10; duration = 50; initialDepth = 436.849301; finalDepth = 440.810572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.810572 # Seafloor depth:-480.810572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 476.849301 meters looking forward 0.000000 meters along route # Maximum depth: 476.849301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.849301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821096; longitude = -121.986742; captureRadius = 10; duration = 50; initialDepth = 418.722955; finalDepth = 436.849301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.849301 # Seafloor depth:-476.849301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 458.722955 meters looking forward 0.000000 meters along route # Maximum depth: 458.722955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.722955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820857; longitude = -121.986238; captureRadius = 10; duration = 50; initialDepth = 399.576345; finalDepth = 418.722955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.722955 # Seafloor depth:-458.722955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 439.576345 meters looking forward 0.000000 meters along route # Maximum depth: 439.576345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.576345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820611; longitude = -121.985720; captureRadius = 10; duration = 50; initialDepth = 381.255465; finalDepth = 399.576345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.576345 # Seafloor depth:-439.576345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 421.255465 meters looking forward 0.000000 meters along route # Maximum depth: 421.255465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.255465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820378; longitude = -121.985229; captureRadius = 10; duration = 50; initialDepth = 359.496383; finalDepth = 381.255465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.255465 # Seafloor depth:-421.255465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 399.496383 meters looking forward 0.000000 meters along route # Maximum depth: 399.496383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.496383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820138; longitude = -121.984725; captureRadius = 10; duration = 50; initialDepth = 339.191595; finalDepth = 359.496383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:359.496383 # Seafloor depth:-399.496383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 379.191595 meters looking forward 0.000000 meters along route # Maximum depth: 379.191595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.191595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819890; longitude = -121.984202; captureRadius = 10; duration = 50; initialDepth = 323.252441; finalDepth = 339.191595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:339.191595 # Seafloor depth:-379.191595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 363.252441 meters looking forward 0.000000 meters along route # Maximum depth: 363.252441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.252441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819659; longitude = -121.983716; captureRadius = 10; duration = 50; initialDepth = 307.992226; finalDepth = 323.252441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:323.252441 # Seafloor depth:-363.252441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 347.992226 meters looking forward 0.000000 meters along route # Maximum depth: 347.992226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 307.992226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819420; longitude = -121.983211; captureRadius = 10; duration = 50; initialDepth = 293.346368; finalDepth = 307.992226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:307.992226 # Seafloor depth:-347.992226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 333.346368 meters looking forward 0.000000 meters along route # Maximum depth: 333.346368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 293.346368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819180; longitude = -121.982707; captureRadius = 10; duration = 50; initialDepth = 269.278418; finalDepth = 293.346368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:293.346368 # Seafloor depth:-333.346368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 309.278418 meters looking forward 0.000000 meters along route # Maximum depth: 309.278418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.278418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818941; longitude = -121.982202; captureRadius = 10; duration = 50; initialDepth = 245.076789; finalDepth = 269.278418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:269.278418 # Seafloor depth:-309.278418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 285.076789 meters looking forward 0.000000 meters along route # Maximum depth: 285.076789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.076789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818701; longitude = -121.981698; captureRadius = 10; duration = 50; initialDepth = 224.080595; finalDepth = 245.076789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:245.076789 # Seafloor depth:-285.076789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 264.080595 meters looking forward 0.000000 meters along route # Maximum depth: 264.080595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 224.080595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818462; longitude = -121.981194; captureRadius = 10; duration = 50; initialDepth = 202.760938; finalDepth = 224.080595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:224.080595 # Seafloor depth:-264.080595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 242.760938 meters looking forward 0.000000 meters along route # Maximum depth: 242.760938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.760938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818222; longitude = -121.980689; captureRadius = 10; duration = 50; initialDepth = 182.637838; finalDepth = 202.760938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:202.760938 # Seafloor depth:-242.760938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 222.637838 meters looking forward 0.000000 meters along route # Maximum depth: 222.637838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.637838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817983; longitude = -121.980185; captureRadius = 10; duration = 50; initialDepth = 162.082533; finalDepth = 182.637838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:182.637838 # Seafloor depth:-222.637838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 202.082533 meters looking forward 0.000000 meters along route # Maximum depth: 202.082533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.082533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817743; longitude = -121.979680; captureRadius = 10; duration = 50; initialDepth = 142.873219; finalDepth = 162.082533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:162.082533 # Seafloor depth:-202.082533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 182.873219 meters looking forward 0.000000 meters along route # Maximum depth: 182.873219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.873219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817502; longitude = -121.979172; captureRadius = 10; duration = 50; initialDepth = 126.194397; finalDepth = 142.873219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:142.873219 # Seafloor depth:-182.873219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 166.194397 meters looking forward 0.000000 meters along route # Maximum depth: 166.194397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.194397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817264; longitude = -121.978672; captureRadius = 10; duration = 50; initialDepth = 108.801341; finalDepth = 126.194397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:126.194397 # Seafloor depth:-166.194397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 148.801341 meters looking forward 0.000000 meters along route # Maximum depth: 148.801341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.801341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817025; longitude = -121.978167; captureRadius = 10; duration = 50; initialDepth = 90.913457; finalDepth = 108.801341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:108.801341 # Seafloor depth:-148.801341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 130.913457 meters looking forward 0.000000 meters along route # Maximum depth: 130.913457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.913457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816781; longitude = -121.977653; captureRadius = 10; duration = 50; initialDepth = 76.582254; finalDepth = 90.913457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:90.913457 # Seafloor depth:-130.913457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 116.582254 meters looking forward 0.000000 meters along route # Maximum depth: 116.582254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.582254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816546; longitude = -121.977158; captureRadius = 10; duration = 50; initialDepth = 65.316671; finalDepth = 76.582254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:76.582254 # Seafloor depth:-116.582254 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 22 # Segment length 50.380846 meters # Minimum depth: 105.316671 meters looking forward 0.000000 meters along route # Maximum depth: 105.316671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.316671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816315; longitude = -121.976673; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 67.260226; finalDepth = 65.316671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.316671 # Seafloor depth:-105.316671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 107.260226 meters looking forward 0.000000 meters along route # Maximum depth: 107.260226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.260226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816150; longitude = -121.976665; captureRadius = 10; duration = 50; initialDepth = 66.909914; finalDepth = 67.260226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:67.260226 # Seafloor depth:-107.260226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 106.909914 meters looking forward 0.000000 meters along route # Maximum depth: 106.909914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.909914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815699; longitude = -121.976645; captureRadius = 10; duration = 50; initialDepth = 68.183890; finalDepth = 66.909914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.909914 # Seafloor depth:-106.909914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 108.183890 meters looking forward 0.000000 meters along route # Maximum depth: 108.183890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.183890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815248; longitude = -121.976625; captureRadius = 10; duration = 50; initialDepth = 63.159508; finalDepth = 68.183890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.18389 # Seafloor depth:-108.183890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 103.159508 meters looking forward 0.000000 meters along route # Maximum depth: 103.159508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.159508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814798; longitude = -121.976605; captureRadius = 10; duration = 50; initialDepth = 64.024683; finalDepth = 63.159508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.159508 # Seafloor depth:-103.159508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 104.024683 meters looking forward 0.000000 meters along route # Maximum depth: 104.024683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.024683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814347; longitude = -121.976585; captureRadius = 10; duration = 50; initialDepth = 68.310960; finalDepth = 64.024683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.024683 # Seafloor depth:-104.024683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 108.310960 meters looking forward 0.000000 meters along route # Maximum depth: 108.310960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.310960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813897; longitude = -121.976565; captureRadius = 10; duration = 50; initialDepth = 78.358693; finalDepth = 68.310960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.31096 # Seafloor depth:-108.310960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 118.358693 meters looking forward 0.000000 meters along route # Maximum depth: 118.358693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.358693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813446; longitude = -121.976545; captureRadius = 10; duration = 50; initialDepth = 83.482869; finalDepth = 78.358693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:78.358693 # Seafloor depth:-118.358693 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 meters # Minimum depth: 123.482869 meters looking forward 0.000000 meters along route # Maximum depth: 123.482869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.482869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812965; longitude = -121.976523; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 82.384000; finalDepth = 83.482869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:83.482869 # Seafloor depth:-123.482869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 122.384000 meters looking forward 0.000000 meters along route # Maximum depth: 122.384000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.384000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812860; longitude = -121.976513; captureRadius = 10; duration = 50; initialDepth = 81.192827; finalDepth = 82.384000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:82.384 # Seafloor depth:-122.384000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 121.192827 meters looking forward 0.000000 meters along route # Maximum depth: 121.192827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.192827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812410; longitude = -121.976469; captureRadius = 10; duration = 50; initialDepth = 71.666225; finalDepth = 81.192827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:81.192827 # Seafloor depth:-121.192827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 111.666225 meters looking forward 0.000000 meters along route # Maximum depth: 111.666225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.666225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811959; longitude = -121.976426; captureRadius = 10; duration = 50; initialDepth = 69.344254; finalDepth = 71.666225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:71.666225 # Seafloor depth:-111.666225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 109.344254 meters looking forward 0.000000 meters along route # Maximum depth: 109.344254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.344254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811508; longitude = -121.976382; captureRadius = 10; duration = 50; initialDepth = 68.135783; finalDepth = 69.344254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.344254 # Seafloor depth:-109.344254 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 meters # Minimum depth: 108.135783 meters looking forward 0.000000 meters along route # Maximum depth: 108.135783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.135783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811043; longitude = -121.976336; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 68.921927; finalDepth = 68.135783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.135783 # Seafloor depth:-108.135783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 108.921927 meters looking forward 0.000000 meters along route # Maximum depth: 108.921927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.921927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810923; longitude = -121.976342; captureRadius = 10; duration = 50; initialDepth = 71.931695; finalDepth = 68.921927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.921927 # Seafloor depth:-108.921927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 111.931695 meters looking forward 0.000000 meters along route # Maximum depth: 111.931695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.931695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810472; longitude = -121.976363; captureRadius = 10; duration = 50; initialDepth = 69.750377; finalDepth = 71.931695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:71.931695 # Seafloor depth:-111.931695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 109.750377 meters looking forward 0.000000 meters along route # Maximum depth: 109.750377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.750377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810021; longitude = -121.976384; captureRadius = 10; duration = 50; initialDepth = 68.387394; finalDepth = 69.750377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.750377 # Seafloor depth:-109.750377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 108.387394 meters looking forward 0.000000 meters along route # Maximum depth: 108.387394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.387394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809571; longitude = -121.976406; captureRadius = 10; duration = 50; initialDepth = 68.504004; finalDepth = 68.387394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.387394 # Seafloor depth:-108.387394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 108.504004 meters looking forward 0.000000 meters along route # Maximum depth: 108.504004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.504004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809120; longitude = -121.976427; captureRadius = 10; duration = 50; initialDepth = 62.323914; finalDepth = 68.504004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.504004 # Seafloor depth:-108.504004 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 meters # Minimum depth: 102.323914 meters looking forward 0.000000 meters along route # Maximum depth: 102.323914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.323914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808654; longitude = -121.976449; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 64.091724; finalDepth = 62.323914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.323914 # Seafloor depth:-102.323914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 104.091724 meters looking forward 0.000000 meters along route # Maximum depth: 104.091724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.091724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808482; longitude = -121.976542; captureRadius = 10; duration = 50; initialDepth = 68.955516; finalDepth = 64.091724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.091724 # Seafloor depth:-104.091724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 108.955516 meters looking forward 0.000000 meters along route # Maximum depth: 108.955516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.955516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808068; longitude = -121.976766; captureRadius = 10; duration = 50; initialDepth = 72.390901; finalDepth = 68.955516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.955516 # Seafloor depth:-108.955516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 112.390901 meters looking forward 0.000000 meters along route # Maximum depth: 112.390901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.390901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807653; longitude = -121.976990; captureRadius = 10; duration = 50; initialDepth = 71.078577; finalDepth = 72.390901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:72.390901 # Seafloor depth:-112.390901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 111.078577 meters looking forward 0.000000 meters along route # Maximum depth: 111.078577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.078577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807228; longitude = -121.977221; captureRadius = 10; duration = 50; initialDepth = 69.512697; finalDepth = 71.078577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:71.078577 # Seafloor depth:-111.078577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 109.512697 meters looking forward 0.000000 meters along route # Maximum depth: 109.512697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.512697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806777; longitude = -121.977465; captureRadius = 10; duration = 50; initialDepth = 68.871104; finalDepth = 69.512697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.512697 # Seafloor depth:-109.512697 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 18 # Segment length 50.380846 meters # Minimum depth: 108.871104 meters looking forward 0.000000 meters along route # Maximum depth: 108.871104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.871104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806341; longitude = -121.977700; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 68.447773; finalDepth = 68.871104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.871104 # Seafloor depth:-108.871104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 108.447773 meters looking forward 0.000000 meters along route # Maximum depth: 108.447773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.447773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806326; longitude = -121.977647; captureRadius = 10; duration = 50; initialDepth = 63.598942; finalDepth = 68.447773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.447773 # Seafloor depth:-108.447773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 103.598942 meters looking forward 0.000000 meters along route # Maximum depth: 103.598942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.598942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806172; longitude = -121.977102; captureRadius = 10; duration = 50; initialDepth = 62.088032; finalDepth = 63.598942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.598942 # Seafloor depth:-103.598942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 102.088032 meters looking forward 0.000000 meters along route # Maximum depth: 102.088032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.088032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806011; longitude = -121.976530; captureRadius = 10; duration = 50; initialDepth = 60.438503; finalDepth = 62.088032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.088032 # Seafloor depth:-102.088032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 100.438503 meters looking forward 0.000000 meters along route # Maximum depth: 100.438503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.438503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805856; longitude = -121.975982; captureRadius = 10; duration = 50; initialDepth = 58.937447; finalDepth = 60.438503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.438503 # Seafloor depth:-100.438503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 98.937447 meters looking forward 0.000000 meters along route # Maximum depth: 98.937447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.937447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805695; longitude = -121.975414; captureRadius = 10; duration = 50; initialDepth = 57.754296; finalDepth = 58.937447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.937447 # Seafloor depth:-98.937447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.754296 meters looking forward 0.000000 meters along route # Maximum depth: 97.754296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.754296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805539; longitude = -121.974861; captureRadius = 10; duration = 50; initialDepth = 57.702215; finalDepth = 57.754296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.754296 # Seafloor depth:-97.754296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.702215 meters looking forward 0.000000 meters along route # Maximum depth: 97.702215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.702215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805380; longitude = -121.974297; captureRadius = 10; duration = 50; initialDepth = 56.861054; finalDepth = 57.702215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.702215 # Seafloor depth:-97.702215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.861054 meters looking forward 0.000000 meters along route # Maximum depth: 96.861054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.861054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805223; longitude = -121.973740; captureRadius = 10; duration = 50; initialDepth = 56.795512; finalDepth = 56.861054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.861054 # Seafloor depth:-96.861054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.795512 meters looking forward 0.000000 meters along route # Maximum depth: 96.795512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.795512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805064; longitude = -121.973179; captureRadius = 10; duration = 50; initialDepth = 56.807205; finalDepth = 56.795512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.795512 # Seafloor depth:-96.795512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.807205 meters looking forward 0.000000 meters along route # Maximum depth: 96.807205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.807205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804906; longitude = -121.972619; captureRadius = 10; duration = 50; initialDepth = 56.494705; finalDepth = 56.807205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.807205 # Seafloor depth:-96.807205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.494705 meters looking forward 0.000000 meters along route # Maximum depth: 96.494705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.494705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804748; longitude = -121.972058; captureRadius = 10; duration = 50; initialDepth = 56.901241; finalDepth = 56.494705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.494705 # Seafloor depth:-96.494705 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 17 # Segment length 50.380846 meters # Minimum depth: 96.901241 meters looking forward 0.000000 meters along route # Maximum depth: 96.901241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.901241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804584; longitude = -121.971479; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 56.539752; finalDepth = 56.901241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.901241 # Seafloor depth:-96.901241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.539752 meters looking forward 0.000000 meters along route # Maximum depth: 96.539752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.539752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804676; longitude = -121.971666; captureRadius = 10; duration = 50; initialDepth = 56.470679; finalDepth = 56.539752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.539752 # Seafloor depth:-96.539752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.470679 meters looking forward 0.000000 meters along route # Maximum depth: 96.470679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.470679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804929; longitude = -121.972178; captureRadius = 10; duration = 50; initialDepth = 56.632578; finalDepth = 56.470679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.470679 # Seafloor depth:-96.470679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.632578 meters looking forward 0.000000 meters along route # Maximum depth: 96.632578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.632578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805175; longitude = -121.972675; captureRadius = 10; duration = 50; initialDepth = 57.164692; finalDepth = 56.632578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.632578 # Seafloor depth:-96.632578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.164692 meters looking forward 0.000000 meters along route # Maximum depth: 97.164692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.164692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805425; longitude = -121.973182; captureRadius = 10; duration = 50; initialDepth = 57.100366; finalDepth = 57.164692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.164692 # Seafloor depth:-97.164692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.100366 meters looking forward 0.000000 meters along route # Maximum depth: 97.100366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.100366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805673; longitude = -121.973684; captureRadius = 10; duration = 50; initialDepth = 57.568856; finalDepth = 57.100366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.100366 # Seafloor depth:-97.100366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.568856 meters looking forward 0.000000 meters along route # Maximum depth: 97.568856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.568856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805922; longitude = -121.974188; captureRadius = 10; duration = 50; initialDepth = 57.748947; finalDepth = 57.568856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.568856 # Seafloor depth:-97.568856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.748947 meters looking forward 0.000000 meters along route # Maximum depth: 97.748947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.748947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806171; longitude = -121.974693; captureRadius = 10; duration = 50; initialDepth = 58.677061; finalDepth = 57.748947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.748947 # Seafloor depth:-97.748947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 98.677061 meters looking forward 0.000000 meters along route # Maximum depth: 98.677061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.677061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806420; longitude = -121.975197; captureRadius = 10; duration = 50; initialDepth = 59.467330; finalDepth = 58.677061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.677061 # Seafloor depth:-98.677061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 99.467330 meters looking forward 0.000000 meters along route # Maximum depth: 99.467330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.467330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806669; longitude = -121.975701; captureRadius = 10; duration = 50; initialDepth = 60.815563; finalDepth = 59.467330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.46733 # Seafloor depth:-99.467330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 100.815563 meters looking forward 0.000000 meters along route # Maximum depth: 100.815563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.815563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806918; longitude = -121.976206; captureRadius = 10; duration = 50; initialDepth = 63.671621; finalDepth = 60.815563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.815563 # Seafloor depth:-100.815563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 103.671621 meters looking forward 0.000000 meters along route # Maximum depth: 103.671621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.671621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807167; longitude = -121.976710; captureRadius = 10; duration = 50; initialDepth = 75.250409; finalDepth = 63.671621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.671621 # Seafloor depth:-103.671621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 115.250409 meters looking forward 0.000000 meters along route # Maximum depth: 115.250409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.250409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807416; longitude = -121.977215; captureRadius = 10; duration = 50; initialDepth = 97.866263; finalDepth = 75.250409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:75.250409 # Seafloor depth:-115.250409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 137.866263 meters looking forward 0.000000 meters along route # Maximum depth: 137.866263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.866263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807678; longitude = -121.977745; captureRadius = 10; duration = 50; initialDepth = 112.689053; finalDepth = 97.866263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:97.866263 # Seafloor depth:-137.866263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 152.689053 meters looking forward 0.000000 meters along route # Maximum depth: 152.689053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.689053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807914; longitude = -121.978223; captureRadius = 10; duration = 50; initialDepth = 125.303824; finalDepth = 112.689053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:112.689053 # Seafloor depth:-152.689053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 165.303824 meters looking forward 0.000000 meters along route # Maximum depth: 165.303824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.303824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808174; longitude = -121.978749; captureRadius = 10; duration = 50; initialDepth = 138.203084; finalDepth = 125.303824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:125.303824 # Seafloor depth:-165.303824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 178.203084 meters looking forward 0.000000 meters along route # Maximum depth: 178.203084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.203084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808412; longitude = -121.979232; captureRadius = 10; duration = 50; initialDepth = 151.461926; finalDepth = 138.203084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:138.203084 # Seafloor depth:-178.203084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 191.461926 meters looking forward 0.000000 meters along route # Maximum depth: 191.461926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.461926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808669; longitude = -121.979753; captureRadius = 10; duration = 50; initialDepth = 165.874931; finalDepth = 151.461926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:151.461926 # Seafloor depth:-191.461926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 205.874931 meters looking forward 0.000000 meters along route # Maximum depth: 205.874931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.874931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808911; longitude = -121.980241; captureRadius = 10; duration = 50; initialDepth = 178.334334; finalDepth = 165.874931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:165.874931 # Seafloor depth:-205.874931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 218.334334 meters looking forward 0.000000 meters along route # Maximum depth: 218.334334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.334334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809165; longitude = -121.980756; captureRadius = 10; duration = 50; initialDepth = 187.473608; finalDepth = 178.334334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:178.334334 # Seafloor depth:-218.334334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 227.473608 meters looking forward 0.000000 meters along route # Maximum depth: 227.473608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.473608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809409; longitude = -121.981250; captureRadius = 10; duration = 50; initialDepth = 201.393415; finalDepth = 187.473608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:187.473608 # Seafloor depth:-227.473608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 241.393415 meters looking forward 0.000000 meters along route # Maximum depth: 241.393415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.393415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809661; longitude = -121.981760; captureRadius = 10; duration = 50; initialDepth = 214.252474; finalDepth = 201.393415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:201.393415 # Seafloor depth:-241.393415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 254.252474 meters looking forward 0.000000 meters along route # Maximum depth: 254.252474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.252474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809907; longitude = -121.982259; captureRadius = 10; duration = 50; initialDepth = 231.598806; finalDepth = 214.252474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:214.252474 # Seafloor depth:-254.252474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 271.598806 meters looking forward 0.000000 meters along route # Maximum depth: 271.598806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.598806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810157; longitude = -121.982764; captureRadius = 10; duration = 50; initialDepth = 250.134137; finalDepth = 231.598806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:231.598806 # Seafloor depth:-271.598806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 290.134137 meters looking forward 0.000000 meters along route # Maximum depth: 290.134137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 250.134137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810405; longitude = -121.983267; captureRadius = 10; duration = 50; initialDepth = 269.289076; finalDepth = 250.134137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:250.134137 # Seafloor depth:-290.134137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 309.289076 meters looking forward 0.000000 meters along route # Maximum depth: 309.289076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.289076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810654; longitude = -121.983772; captureRadius = 10; duration = 50; initialDepth = 288.195985; finalDepth = 269.289076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:269.289076 # Seafloor depth:-309.289076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 328.195985 meters looking forward 0.000000 meters along route # Maximum depth: 328.195985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.195985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810903; longitude = -121.984276; captureRadius = 10; duration = 50; initialDepth = 306.385422; finalDepth = 288.195985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:288.195985 # Seafloor depth:-328.195985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 346.385422 meters looking forward 0.000000 meters along route # Maximum depth: 346.385422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.385422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811152; longitude = -121.984781; captureRadius = 10; duration = 50; initialDepth = 323.389752; finalDepth = 306.385422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:306.385422 # Seafloor depth:-346.385422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 363.389752 meters looking forward 0.000000 meters along route # Maximum depth: 363.389752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.389752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811401; longitude = -121.985285; captureRadius = 10; duration = 50; initialDepth = 343.037452; finalDepth = 323.389752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:323.389752 # Seafloor depth:-363.389752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 383.037452 meters looking forward 0.000000 meters along route # Maximum depth: 383.037452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.037452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811650; longitude = -121.985789; captureRadius = 10; duration = 50; initialDepth = 356.541655; finalDepth = 343.037452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:343.037452 # Seafloor depth:-383.037452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 396.541655 meters looking forward 0.000000 meters along route # Maximum depth: 396.541655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.541655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811899; longitude = -121.986294; captureRadius = 10; duration = 50; initialDepth = 354.756822; finalDepth = 356.541655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:356.541655 # Seafloor depth:-396.541655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 394.756822 meters looking forward 0.000000 meters along route # Maximum depth: 394.756822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.756822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812149; longitude = -121.986798; captureRadius = 10; duration = 50; initialDepth = 348.256781; finalDepth = 354.756822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:354.756822 # Seafloor depth:-394.756822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 388.256781 meters looking forward 0.000000 meters along route # Maximum depth: 388.256781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.256781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812410; longitude = -121.987327; captureRadius = 10; duration = 50; initialDepth = 351.675998; finalDepth = 348.256781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:348.256781 # Seafloor depth:-388.256781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 391.675998 meters looking forward 0.000000 meters along route # Maximum depth: 391.675998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.675998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812647; longitude = -121.987807; captureRadius = 10; duration = 50; initialDepth = 365.229915; finalDepth = 351.675998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:351.675998 # Seafloor depth:-391.675998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 405.229915 meters looking forward 0.000000 meters along route # Maximum depth: 405.229915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 365.229915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812905; longitude = -121.988331; captureRadius = 10; duration = 50; initialDepth = 385.521192; finalDepth = 365.229915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:365.229915 # Seafloor depth:-405.229915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 425.521192 meters looking forward 0.000000 meters along route # Maximum depth: 425.521192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.521192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813145; longitude = -121.988816; captureRadius = 10; duration = 50; initialDepth = 410.106979; finalDepth = 385.521192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.521192 # Seafloor depth:-425.521192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 450.106979 meters looking forward 0.000000 meters along route # Maximum depth: 450.106979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.106979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813401; longitude = -121.989335; captureRadius = 10; duration = 50; initialDepth = 435.755163; finalDepth = 410.106979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.106979 # Seafloor depth:-450.106979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 497.259151 meters looking forward 0.000000 meters along route # Maximum depth: 497.259151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.755163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813643; longitude = -121.989825; captureRadius = 10; duration = 50; initialDepth = 462.646951; finalDepth = 435.755163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.5039880000003 # Actual altitude: 61.5039880000003 # Commanded vehicle depth:435.755163 # Seafloor depth:-497.259151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.60; MB_Bottom_Detect_Filter_Max_Range = 246.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 50.380846 meters # Minimum depth: 535.628764 meters looking forward 0.000000 meters along route # Maximum depth: 535.628764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.646951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813897; longitude = -121.990338; captureRadius = 10; duration = 50; initialDepth = 488.555998; finalDepth = 462.646951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.9818134999997 # Actual altitude: 72.9818134999997 # Commanded vehicle depth:462.6469505 # Seafloor depth:-535.628764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.19; MB_Bottom_Detect_Filter_Max_Range = 291.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 50.380846 meters # Minimum depth: 550.601771 meters looking forward 0.000000 meters along route # Maximum depth: 550.601771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.555998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814141; longitude = -121.990833; captureRadius = 10; duration = 50; initialDepth = 515.186666; finalDepth = 488.555998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.9818134999997 # Actual altitude: 72.9818134999997 # Commanded vehicle depth:488.555998 # Seafloor depth:-550.601771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.19; MB_Bottom_Detect_Filter_Max_Range = 291.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 50.380846 meters # Minimum depth: 556.794647 meters looking forward 0.000000 meters along route # Maximum depth: 556.794647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.186666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814392; longitude = -121.991342; captureRadius = 10; duration = 50; initialDepth = 516.788629; finalDepth = 515.186666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.0457730000003 # Actual altitude: 62.0457730000003 # Commanded vehicle depth:515.1866665 # Seafloor depth:-556.794647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.82; MB_Bottom_Detect_Filter_Max_Range = 248.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 50.380846 meters # Minimum depth: 556.788629 meters looking forward 0.000000 meters along route # Maximum depth: 556.788629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.788629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814639; longitude = -121.991842; captureRadius = 10; duration = 50; initialDepth = 517.129647; finalDepth = 516.788629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.6079805000004 # Actual altitude: 50 # Commanded vehicle depth:516.788629 # Seafloor depth:-556.788629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 557.129647 meters looking forward 0.000000 meters along route # Maximum depth: 557.129647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.129647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814888; longitude = -121.992347; captureRadius = 10; duration = 50; initialDepth = 513.760880; finalDepth = 517.129647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.129647 # Seafloor depth:-557.129647 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 meters # Minimum depth: 553.760880 meters looking forward 0.000000 meters along route # Maximum depth: 553.760880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.760880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815128; longitude = -121.992832; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 512.694633; finalDepth = 513.760880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.76088 # Seafloor depth:-553.760880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 552.694633 meters looking forward 0.000000 meters along route # Maximum depth: 552.694633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.694633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815166; longitude = -121.992907; captureRadius = 10; duration = 50; initialDepth = 503.299930; finalDepth = 512.694633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.694633 # Seafloor depth:-552.694633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 543.299930 meters looking forward 0.000000 meters along route # Maximum depth: 543.299930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.299930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815429; longitude = -121.993431; captureRadius = 10; duration = 50; initialDepth = 490.731359; finalDepth = 503.299930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.29993 # Seafloor depth:-543.299930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 530.731359 meters looking forward 0.000000 meters along route # Maximum depth: 530.731359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.731359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815672; longitude = -121.993916; captureRadius = 10; duration = 50; initialDepth = 471.759995; finalDepth = 490.731359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.731359 # Seafloor depth:-530.731359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 511.759995 meters looking forward 0.000000 meters along route # Maximum depth: 511.759995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.759995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815925; longitude = -121.994420; captureRadius = 10; duration = 50; initialDepth = 453.406601; finalDepth = 471.759995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.759995 # Seafloor depth:-511.759995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 493.406601 meters looking forward 0.000000 meters along route # Maximum depth: 493.406601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.406601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816178; longitude = -121.994925; captureRadius = 10; duration = 50; initialDepth = 429.815032; finalDepth = 453.406601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.406601 # Seafloor depth:-493.406601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 469.815032 meters looking forward 0.000000 meters along route # Maximum depth: 469.815032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.815032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816431; longitude = -121.995429; captureRadius = 10; duration = 50; initialDepth = 431.709557; finalDepth = 429.815032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.815032 # Seafloor depth:-469.815032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 471.709557 meters looking forward 0.000000 meters along route # Maximum depth: 471.709557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.709557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816690; longitude = -121.995945; captureRadius = 10; duration = 50; initialDepth = 433.918291; finalDepth = 431.709557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.709557 # Seafloor depth:-471.709557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 473.918291 meters looking forward 0.000000 meters along route # Maximum depth: 473.918291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.918291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816938; longitude = -121.996438; captureRadius = 10; duration = 50; initialDepth = 425.735185; finalDepth = 433.918291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:433.918291 # Seafloor depth:-473.918291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 465.735185 meters looking forward 0.000000 meters along route # Maximum depth: 465.735185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.735185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817191; longitude = -121.996942; captureRadius = 10; duration = 50; initialDepth = 410.322160; finalDepth = 425.735185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:425.735185 # Seafloor depth:-465.735185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 450.322160 meters looking forward 0.000000 meters along route # Maximum depth: 450.322160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.322160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817457; longitude = -121.997472; captureRadius = 10; duration = 50; initialDepth = 396.219938; finalDepth = 410.322160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.32216 # Seafloor depth:-450.322160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 436.219938 meters looking forward 0.000000 meters along route # Maximum depth: 436.219938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.219938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817697; longitude = -121.997951; captureRadius = 10; duration = 50; initialDepth = 382.984152; finalDepth = 396.219938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.219938 # Seafloor depth:-436.219938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 422.984152 meters looking forward 0.000000 meters along route # Maximum depth: 422.984152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.984152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817952; longitude = -121.998459; captureRadius = 10; duration = 50; initialDepth = 365.588864; finalDepth = 382.984152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:382.984152 # Seafloor depth:-422.984152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 405.588864 meters looking forward 0.000000 meters along route # Maximum depth: 405.588864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 365.588864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818203; longitude = -121.998960; captureRadius = 10; duration = 50; initialDepth = 343.679008; finalDepth = 365.588864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:365.588864 # Seafloor depth:-405.588864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 383.679008 meters looking forward 0.000000 meters along route # Maximum depth: 383.679008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.679008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818456; longitude = -121.999464; captureRadius = 10; duration = 50; initialDepth = 318.598804; finalDepth = 343.679008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:343.679008 # Seafloor depth:-383.679008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 358.598804 meters looking forward 0.000000 meters along route # Maximum depth: 358.598804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.598804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818718; longitude = -121.999986; captureRadius = 10; duration = 50; initialDepth = 298.238684; finalDepth = 318.598804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:318.598804 # Seafloor depth:-358.598804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 338.238684 meters looking forward 0.000000 meters along route # Maximum depth: 338.238684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.238684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818963; longitude = -122.000473; captureRadius = 10; duration = 50; initialDepth = 275.732041; finalDepth = 298.238684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:298.238684 # Seafloor depth:-338.238684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 315.732041 meters looking forward 0.000000 meters along route # Maximum depth: 315.732041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 275.732041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819216; longitude = -122.000977; captureRadius = 10; duration = 50; initialDepth = 265.492415; finalDepth = 275.732041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:275.732041 # Seafloor depth:-315.732041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 305.492415 meters looking forward 0.000000 meters along route # Maximum depth: 305.492415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.492415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819469; longitude = -122.001482; captureRadius = 10; duration = 50; initialDepth = 251.159911; finalDepth = 265.492415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:265.492415 # Seafloor depth:-305.492415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 291.159911 meters looking forward 0.000000 meters along route # Maximum depth: 291.159911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.159911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819722; longitude = -122.001986; captureRadius = 10; duration = 50; initialDepth = 248.045834; finalDepth = 251.159911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:251.159911 # Seafloor depth:-291.159911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 288.045834 meters looking forward 0.000000 meters along route # Maximum depth: 288.045834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 248.045834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819980; longitude = -122.002500; captureRadius = 10; duration = 50; initialDepth = 232.780043; finalDepth = 248.045834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:248.045834 # Seafloor depth:-288.045834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 272.780043 meters looking forward 0.000000 meters along route # Maximum depth: 272.780043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.780043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820228; longitude = -122.002995; captureRadius = 10; duration = 50; initialDepth = 191.316015; finalDepth = 232.780043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:232.780043 # Seafloor depth:-272.780043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 231.316015 meters looking forward 0.000000 meters along route # Maximum depth: 231.316015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.316015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820482; longitude = -122.003499; captureRadius = 10; duration = 50; initialDepth = 159.106931; finalDepth = 191.316015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:191.316015 # Seafloor depth:-231.316015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 199.106931 meters looking forward 0.000000 meters along route # Maximum depth: 199.106931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.106931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820746; longitude = -122.004026; captureRadius = 10; duration = 50; initialDepth = 138.505499; finalDepth = 159.106931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:159.106931 # Seafloor depth:-199.106931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 178.505499 meters looking forward 0.000000 meters along route # Maximum depth: 178.505499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.505499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820988; longitude = -122.004508; captureRadius = 10; duration = 50; initialDepth = 138.256249; finalDepth = 138.505499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:138.505499 # Seafloor depth:-178.505499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 178.256249 meters looking forward 0.000000 meters along route # Maximum depth: 178.256249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.256249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821242; longitude = -122.005014; captureRadius = 10; duration = 50; initialDepth = 121.904069; finalDepth = 138.256249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:138.256249 # Seafloor depth:-178.256249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 161.904069 meters looking forward 0.000000 meters along route # Maximum depth: 161.904069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.904069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821494; longitude = -122.005517; captureRadius = 10; duration = 50; initialDepth = 101.069338; finalDepth = 121.904069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:121.904069 # Seafloor depth:-161.904069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 141.069338 meters looking forward 0.000000 meters along route # Maximum depth: 141.069338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.069338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821747; longitude = -122.006021; captureRadius = 10; duration = 50; initialDepth = 79.842760; finalDepth = 101.069338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:101.069338 # Seafloor depth:-141.069338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 119.842760 meters looking forward 0.000000 meters along route # Maximum depth: 119.842760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.842760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822008; longitude = -122.006540; captureRadius = 10; duration = 50; initialDepth = 66.251241; finalDepth = 79.842760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:79.84276 # Seafloor depth:-119.842760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 106.251241 meters looking forward 0.000000 meters along route # Maximum depth: 106.251241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.251241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822254; longitude = -122.007030; captureRadius = 10; duration = 50; initialDepth = 63.114685; finalDepth = 66.251241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.251241 # Seafloor depth:-106.251241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 103.114685 meters looking forward 0.000000 meters along route # Maximum depth: 103.114685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.114685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822507; longitude = -122.007535; captureRadius = 10; duration = 50; initialDepth = 61.196527; finalDepth = 63.114685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.114685 # Seafloor depth:-103.114685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 101.196527 meters looking forward 0.000000 meters along route # Maximum depth: 101.196527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.196527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822760; longitude = -122.008039; captureRadius = 10; duration = 50; initialDepth = 59.097579; finalDepth = 61.196527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.196527 # Seafloor depth:-101.196527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 99.097579 meters looking forward 0.000000 meters along route # Maximum depth: 99.097579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.097579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822999; longitude = -122.008516; captureRadius = 10; duration = 50; initialDepth = 58.735689; finalDepth = 59.097579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.097579 # Seafloor depth:-99.097579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 98.735689 meters looking forward 0.000000 meters along route # Maximum depth: 98.735689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.735689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823238; longitude = -122.008992; captureRadius = 10; duration = 50; initialDepth = 57.887232; finalDepth = 58.735689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.735689 # Seafloor depth:-98.735689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.887232 meters looking forward 0.000000 meters along route # Maximum depth: 97.887232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.887232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823495; longitude = -122.009503; captureRadius = 10; duration = 50; initialDepth = 57.183870; finalDepth = 57.887232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.887232 # Seafloor depth:-97.887232 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 15 # Segment length 50.380846 meters # Minimum depth: 97.183870 meters looking forward 0.000000 meters along route # Maximum depth: 97.183870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.183870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823735; longitude = -122.009982; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 56.622725; finalDepth = 57.183870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.18387 # Seafloor depth:-97.183870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.622725 meters looking forward 0.000000 meters along route # Maximum depth: 96.622725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.622725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824126; longitude = -122.009699; captureRadius = 10; duration = 50; initialDepth = 56.484548; finalDepth = 56.622725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.622725 # Seafloor depth:-96.622725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.484548 meters looking forward 0.000000 meters along route # Maximum depth: 96.484548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.484548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824531; longitude = -122.009406; captureRadius = 10; duration = 50; initialDepth = 56.268002; finalDepth = 56.484548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.484548 # Seafloor depth:-96.484548 # behavior reson { duration = 6; 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 14 # Segment length 50.380846 meters # Minimum depth: 96.268002 meters looking forward 0.000000 meters along route # Maximum depth: 96.268002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.268002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824922; longitude = -122.009123; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 56.380719; finalDepth = 56.268002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.268002 # Seafloor depth:-96.268002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.380719 meters looking forward 0.000000 meters along route # Maximum depth: 96.380719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.380719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824711; longitude = -122.008705; captureRadius = 10; duration = 50; initialDepth = 57.158467; finalDepth = 56.380719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.380719 # Seafloor depth:-96.380719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.158467 meters looking forward 0.000000 meters along route # Maximum depth: 97.158467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.158467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824460; longitude = -122.008207; captureRadius = 10; duration = 50; initialDepth = 57.499994; finalDepth = 57.158467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.158467 # Seafloor depth:-97.158467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.499994 meters looking forward 0.000000 meters along route # Maximum depth: 97.499994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.499994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824206; longitude = -122.007703; captureRadius = 10; duration = 50; initialDepth = 58.930223; finalDepth = 57.499994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.499994 # Seafloor depth:-97.499994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 98.930223 meters looking forward 0.000000 meters along route # Maximum depth: 98.930223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.930223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823945; longitude = -122.007186; captureRadius = 10; duration = 50; initialDepth = 60.352550; finalDepth = 58.930223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.930223 # Seafloor depth:-98.930223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 100.352550 meters looking forward 0.000000 meters along route # Maximum depth: 100.352550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.352550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823697; longitude = -122.006694; captureRadius = 10; duration = 50; initialDepth = 62.274199; finalDepth = 60.352550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.35255 # Seafloor depth:-100.352550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 102.274199 meters looking forward 0.000000 meters along route # Maximum depth: 102.274199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.274199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823443; longitude = -122.006190; captureRadius = 10; duration = 50; initialDepth = 66.747634; finalDepth = 62.274199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.274199 # Seafloor depth:-102.274199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 106.747634 meters looking forward 0.000000 meters along route # Maximum depth: 106.747634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.747634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823179; longitude = -122.005667; captureRadius = 10; duration = 50; initialDepth = 74.571590; finalDepth = 66.747634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.747634 # Seafloor depth:-106.747634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 114.571590 meters looking forward 0.000000 meters along route # Maximum depth: 114.571590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.571590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822934; longitude = -122.005181; captureRadius = 10; duration = 50; initialDepth = 82.083325; finalDepth = 74.571590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:74.57159 # Seafloor depth:-114.571590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 122.083325 meters looking forward 0.000000 meters along route # Maximum depth: 122.083325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.083325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822680; longitude = -122.004676; captureRadius = 10; duration = 50; initialDepth = 93.927624; finalDepth = 82.083325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:82.083325 # Seafloor depth:-122.083325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 133.927624 meters looking forward 0.000000 meters along route # Maximum depth: 133.927624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.927624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822413; longitude = -122.004147; captureRadius = 10; duration = 50; initialDepth = 113.309197; finalDepth = 93.927624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:93.927624 # Seafloor depth:-133.927624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 153.309197 meters looking forward 0.000000 meters along route # Maximum depth: 153.309197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.309197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822171; longitude = -122.003668; captureRadius = 10; duration = 50; initialDepth = 139.860767; finalDepth = 113.309197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:113.309197 # Seafloor depth:-153.309197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 180.929553 meters looking forward 0.000000 meters along route # Maximum depth: 180.929553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.860767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821917; longitude = -122.003163; captureRadius = 10; duration = 50; initialDepth = 151.955686; finalDepth = 139.860767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0687864999987 # Actual altitude: 50 # Commanded vehicle depth:139.860766500001 # Seafloor depth:-180.929553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 191.955686 meters looking forward 0.000000 meters along route # Maximum depth: 191.955686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.955686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821663; longitude = -122.002659; captureRadius = 10; duration = 50; initialDepth = 146.706811; finalDepth = 151.955686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0687864999987 # Actual altitude: 50 # Commanded vehicle depth:151.955686 # Seafloor depth:-191.955686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 186.706811 meters looking forward 0.000000 meters along route # Maximum depth: 186.706811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.706811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821409; longitude = -122.002154; captureRadius = 10; duration = 50; initialDepth = 164.348127; finalDepth = 146.706811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:146.706811 # Seafloor depth:-186.706811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 204.348127 meters looking forward 0.000000 meters along route # Maximum depth: 204.348127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.348127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821152; longitude = -122.001645; captureRadius = 10; duration = 50; initialDepth = 190.623120; finalDepth = 164.348127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:164.348127 # Seafloor depth:-204.348127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 245.086734 meters looking forward 0.000000 meters along route # Maximum depth: 245.086734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.623120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820900; longitude = -122.001146; captureRadius = 10; duration = 50; initialDepth = 217.175016; finalDepth = 190.623120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4636140000009 # Actual altitude: 54.4636140000009 # Commanded vehicle depth:190.623119999999 # Seafloor depth:-245.086734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.79; MB_Bottom_Detect_Filter_Max_Range = 217.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.380846 meters # Minimum depth: 275.714679 meters looking forward 0.000000 meters along route # Maximum depth: 275.714679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.175016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820646; longitude = -122.000641; captureRadius = 10; duration = 50; initialDepth = 244.329694; finalDepth = 217.175016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.539663 # Actual altitude: 58.539663 # Commanded vehicle depth:217.175016 # Seafloor depth:-275.714679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 234.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.380846 meters # Minimum depth: 306.137379 meters looking forward 0.000000 meters along route # Maximum depth: 306.137379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 244.329694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820386; longitude = -122.000125; captureRadius = 10; duration = 50; initialDepth = 270.279005; finalDepth = 244.329694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.8076845000009 # Actual altitude: 61.8076845000009 # Commanded vehicle depth:244.329694499999 # Seafloor depth:-306.137379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.72; MB_Bottom_Detect_Filter_Max_Range = 247.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.380846 meters # Minimum depth: 331.668793 meters looking forward 0.000000 meters along route # Maximum depth: 331.668793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.279005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820137; longitude = -121.999632; captureRadius = 10; duration = 50; initialDepth = 296.831097; finalDepth = 270.279005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.8076845000009 # Actual altitude: 61.8076845000009 # Commanded vehicle depth:270.279004999999 # Seafloor depth:-331.668793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.72; MB_Bottom_Detect_Filter_Max_Range = 247.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.380846 meters # Minimum depth: 358.425130 meters looking forward 0.000000 meters along route # Maximum depth: 358.425130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.831097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819883; longitude = -121.999128; captureRadius = 10; duration = 50; initialDepth = 324.311854; finalDepth = 296.831097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.5940325000008 # Actual altitude: 61.5940325000008 # Commanded vehicle depth:296.831097499999 # Seafloor depth:-358.425130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.64; MB_Bottom_Detect_Filter_Max_Range = 246.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.380846 meters # Minimum depth: 379.030049 meters looking forward 0.000000 meters along route # Maximum depth: 379.030049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.311854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819619; longitude = -121.998606; captureRadius = 10; duration = 50; initialDepth = 349.935479; finalDepth = 324.311854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.5940325000008 # Actual altitude: 61.5940325000008 # Commanded vehicle depth:324.311854499999 # Seafloor depth:-379.030049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.64; MB_Bottom_Detect_Filter_Max_Range = 246.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.380846 meters # Minimum depth: 396.182164 meters looking forward 0.000000 meters along route # Maximum depth: 396.182164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.935479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819374; longitude = -121.998119; captureRadius = 10; duration = 50; initialDepth = 373.671599; finalDepth = 349.935479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7181945000014 # Actual altitude: 54.7181945000014 # Commanded vehicle depth:349.9354785 # Seafloor depth:-396.182164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.89; MB_Bottom_Detect_Filter_Max_Range = 218.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.380846 meters # Minimum depth: 413.671599 meters looking forward 0.000000 meters along route # Maximum depth: 413.671599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.671599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819120; longitude = -121.997615; captureRadius = 10; duration = 50; initialDepth = 383.135174; finalDepth = 373.671599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2466854999997 # Actual altitude: 50 # Commanded vehicle depth:373.671599 # Seafloor depth:-413.671599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 423.135174 meters looking forward 0.000000 meters along route # Maximum depth: 423.135174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.135174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818853; longitude = -121.997087; captureRadius = 10; duration = 50; initialDepth = 389.144870; finalDepth = 383.135174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:383.135174 # Seafloor depth:-423.135174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 429.144870 meters looking forward 0.000000 meters along route # Maximum depth: 429.144870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.144870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818611; longitude = -121.996606; captureRadius = 10; duration = 50; initialDepth = 385.498746; finalDepth = 389.144870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.14487 # Seafloor depth:-429.144870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 425.498746 meters looking forward 0.000000 meters along route # Maximum depth: 425.498746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.498746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818357; longitude = -121.996102; captureRadius = 10; duration = 50; initialDepth = 390.072102; finalDepth = 385.498746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.498746 # Seafloor depth:-425.498746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 430.072102 meters looking forward 0.000000 meters along route # Maximum depth: 430.072102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.072102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818103; longitude = -121.995597; captureRadius = 10; duration = 50; initialDepth = 405.869864; finalDepth = 390.072102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:390.072102 # Seafloor depth:-430.072102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 445.869864 meters looking forward 0.000000 meters along route # Maximum depth: 445.869864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.869864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817862; longitude = -121.995120; captureRadius = 10; duration = 50; initialDepth = 429.721158; finalDepth = 405.869864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.869864 # Seafloor depth:-445.869864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 469.721158 meters looking forward 0.000000 meters along route # Maximum depth: 469.721158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.721158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817622; longitude = -121.994644; captureRadius = 10; duration = 50; initialDepth = 456.425529; finalDepth = 429.721158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.721158 # Seafloor depth:-469.721158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 496.714339 meters looking forward 0.000000 meters along route # Maximum depth: 496.714339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.425529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817366; longitude = -121.994137; captureRadius = 10; duration = 50; initialDepth = 482.773288; finalDepth = 456.425529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2888100000002 # Actual altitude: 50 # Commanded vehicle depth:456.425529 # Seafloor depth:-496.714339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 522.773288 meters looking forward 0.000000 meters along route # Maximum depth: 522.773288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.773288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817114; longitude = -121.993636; captureRadius = 10; duration = 50; initialDepth = 496.257478; finalDepth = 482.773288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2888100000002 # Actual altitude: 50 # Commanded vehicle depth:482.773288 # Seafloor depth:-522.773288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 536.257478 meters looking forward 0.000000 meters along route # Maximum depth: 536.257478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.257478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816859; longitude = -121.993131; captureRadius = 10; duration = 50; initialDepth = 499.457009; finalDepth = 496.257478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.257478 # Seafloor depth:-536.257478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 539.457009 meters looking forward 0.000000 meters along route # Maximum depth: 539.457009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.457009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816600; longitude = -121.992618; captureRadius = 10; duration = 50; initialDepth = 502.564346; finalDepth = 499.457009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.457009 # Seafloor depth:-539.457009 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 meters # Minimum depth: 542.564346 meters looking forward 0.000000 meters along route # Maximum depth: 542.564346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.564346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816360; longitude = -121.992141; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 503.591024; finalDepth = 502.564346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.564346 # Seafloor depth:-542.564346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 543.591024 meters looking forward 0.000000 meters along route # Maximum depth: 543.591024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.591024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816131; longitude = -121.991674; captureRadius = 10; duration = 50; initialDepth = 502.818197; finalDepth = 503.591024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.591024 # Seafloor depth:-543.591024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 542.818197 meters looking forward 0.000000 meters along route # Maximum depth: 542.818197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.818197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815879; longitude = -121.991159; captureRadius = 10; duration = 50; initialDepth = 500.308577; finalDepth = 502.818197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.818197 # Seafloor depth:-542.818197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 540.308577 meters looking forward 0.000000 meters along route # Maximum depth: 540.308577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.308577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815638; longitude = -121.990665; captureRadius = 10; duration = 50; initialDepth = 490.564511; finalDepth = 500.308577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.308577 # Seafloor depth:-540.308577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 530.564511 meters looking forward 0.000000 meters along route # Maximum depth: 530.564511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.564511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815384; longitude = -121.990146; captureRadius = 10; duration = 50; initialDepth = 472.293363; finalDepth = 490.564511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.564511 # Seafloor depth:-530.564511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 512.293363 meters looking forward 0.000000 meters along route # Maximum depth: 512.293363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.293363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815144; longitude = -121.989656; captureRadius = 10; duration = 50; initialDepth = 424.900321; finalDepth = 472.293363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.293363 # Seafloor depth:-512.293363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 464.900321 meters looking forward 0.000000 meters along route # Maximum depth: 464.900321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.900321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814888; longitude = -121.989133; captureRadius = 10; duration = 50; initialDepth = 389.538653; finalDepth = 424.900321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:424.900321 # Seafloor depth:-464.900321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 429.538653 meters looking forward 0.000000 meters along route # Maximum depth: 429.538653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.538653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814650; longitude = -121.988648; captureRadius = 10; duration = 50; initialDepth = 372.976767; finalDepth = 389.538653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.538653 # Seafloor depth:-429.538653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 412.976767 meters looking forward 0.000000 meters along route # Maximum depth: 412.976767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.976767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814392; longitude = -121.988120; captureRadius = 10; duration = 50; initialDepth = 355.854713; finalDepth = 372.976767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.976767 # Seafloor depth:-412.976767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 395.854713 meters looking forward 0.000000 meters along route # Maximum depth: 395.854713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.854713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814157; longitude = -121.987639; captureRadius = 10; duration = 50; initialDepth = 335.415974; finalDepth = 355.854713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:355.854713 # Seafloor depth:-395.854713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 375.415974 meters looking forward 0.000000 meters along route # Maximum depth: 375.415974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.415974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813910; longitude = -121.987134; captureRadius = 10; duration = 50; initialDepth = 318.963622; finalDepth = 335.415974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:335.415974 # Seafloor depth:-375.415974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 358.963622 meters looking forward 0.000000 meters along route # Maximum depth: 358.963622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.963622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813663; longitude = -121.986630; captureRadius = 10; duration = 50; initialDepth = 303.607810; finalDepth = 318.963622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:318.963622 # Seafloor depth:-358.963622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 343.607810 meters looking forward 0.000000 meters along route # Maximum depth: 343.607810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 303.607810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813416; longitude = -121.986126; captureRadius = 10; duration = 50; initialDepth = 293.670972; finalDepth = 303.607810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:303.60781 # Seafloor depth:-343.607810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 333.670972 meters looking forward 0.000000 meters along route # Maximum depth: 333.670972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 293.670972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813169; longitude = -121.985621; captureRadius = 10; duration = 50; initialDepth = 288.687392; finalDepth = 293.670972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:293.670972 # Seafloor depth:-333.670972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 328.687392 meters looking forward 0.000000 meters along route # Maximum depth: 328.687392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.687392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812923; longitude = -121.985117; captureRadius = 10; duration = 50; initialDepth = 283.782955; finalDepth = 288.687392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:288.687392 # Seafloor depth:-328.687392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 323.782955 meters looking forward 0.000000 meters along route # Maximum depth: 323.782955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 283.782955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812676; longitude = -121.984612; captureRadius = 10; duration = 50; initialDepth = 277.261305; finalDepth = 283.782955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:283.782955 # Seafloor depth:-323.782955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 317.261305 meters looking forward 0.000000 meters along route # Maximum depth: 317.261305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 277.261305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812429; longitude = -121.984108; captureRadius = 10; duration = 50; initialDepth = 268.268335; finalDepth = 277.261305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:277.261305 # Seafloor depth:-317.261305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 308.268335 meters looking forward 0.000000 meters along route # Maximum depth: 308.268335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 268.268335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812182; longitude = -121.983604; captureRadius = 10; duration = 50; initialDepth = 257.422215; finalDepth = 268.268335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:268.268335 # Seafloor depth:-308.268335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 297.422215 meters looking forward 0.000000 meters along route # Maximum depth: 297.422215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.422215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811935; longitude = -121.983099; captureRadius = 10; duration = 50; initialDepth = 240.818531; finalDepth = 257.422215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:257.422215 # Seafloor depth:-297.422215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 280.818531 meters looking forward 0.000000 meters along route # Maximum depth: 280.818531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.818531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811688; longitude = -121.982595; captureRadius = 10; duration = 50; initialDepth = 225.259906; finalDepth = 240.818531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:240.818531 # Seafloor depth:-280.818531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 265.259906 meters looking forward 0.000000 meters along route # Maximum depth: 265.259906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.259906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811442; longitude = -121.982090; captureRadius = 10; duration = 50; initialDepth = 210.833530; finalDepth = 225.259906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:225.259906 # Seafloor depth:-265.259906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 250.833530 meters looking forward 0.000000 meters along route # Maximum depth: 250.833530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.833530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811193; longitude = -121.981582; captureRadius = 10; duration = 50; initialDepth = 196.280896; finalDepth = 210.833530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:210.83353 # Seafloor depth:-250.833530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 236.280896 meters looking forward 0.000000 meters along route # Maximum depth: 236.280896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 196.280896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810948; longitude = -121.981082; captureRadius = 10; duration = 50; initialDepth = 185.249689; finalDepth = 196.280896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:196.280896 # Seafloor depth:-236.280896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 225.249689 meters looking forward 0.000000 meters along route # Maximum depth: 225.249689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.249689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810697; longitude = -121.980569; captureRadius = 10; duration = 50; initialDepth = 174.253381; finalDepth = 185.249689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:185.249689 # Seafloor depth:-225.249689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 214.253381 meters looking forward 0.000000 meters along route # Maximum depth: 214.253381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.253381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810454; longitude = -121.980073; captureRadius = 10; duration = 50; initialDepth = 165.985301; finalDepth = 174.253381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:174.253381 # Seafloor depth:-214.253381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 205.985301 meters looking forward 0.000000 meters along route # Maximum depth: 205.985301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.985301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810202; longitude = -121.979556; captureRadius = 10; duration = 50; initialDepth = 155.310825; finalDepth = 165.985301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:165.985301 # Seafloor depth:-205.985301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 195.310825 meters looking forward 0.000000 meters along route # Maximum depth: 195.310825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.310825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809961; longitude = -121.979064; captureRadius = 10; duration = 50; initialDepth = 139.778435; finalDepth = 155.310825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:155.310825 # Seafloor depth:-195.310825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 179.778435 meters looking forward 0.000000 meters along route # Maximum depth: 179.778435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.778435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809706; longitude = -121.978544; captureRadius = 10; duration = 50; initialDepth = 122.571623; finalDepth = 139.778435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:139.778435 # Seafloor depth:-179.778435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 162.571623 meters looking forward 0.000000 meters along route # Maximum depth: 162.571623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.571623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809467; longitude = -121.978055; captureRadius = 10; duration = 50; initialDepth = 104.706637; finalDepth = 122.571623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:122.571623 # Seafloor depth:-162.571623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 144.706637 meters looking forward 0.000000 meters along route # Maximum depth: 144.706637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.706637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809210; longitude = -121.977531; captureRadius = 10; duration = 50; initialDepth = 81.056468; finalDepth = 104.706637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:104.706637 # Seafloor depth:-144.706637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 121.056468 meters looking forward 0.000000 meters along route # Maximum depth: 121.056468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.056468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808973; longitude = -121.977046; captureRadius = 10; duration = 50; initialDepth = 64.710878; finalDepth = 81.056468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:81.056468 # Seafloor depth:-121.056468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 104.710878 meters looking forward 0.000000 meters along route # Maximum depth: 104.710878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.710878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808715; longitude = -121.976518; captureRadius = 10; duration = 50; initialDepth = 59.176928; finalDepth = 64.710878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.710878 # Seafloor depth:-104.710878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 99.176928 meters looking forward 0.000000 meters along route # Maximum depth: 99.176928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.176928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808480; longitude = -121.976038; captureRadius = 10; duration = 50; initialDepth = 57.892789; finalDepth = 59.176928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.176928 # Seafloor depth:-99.176928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.892789 meters looking forward 0.000000 meters along route # Maximum depth: 97.892789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.892789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808233; longitude = -121.975533; captureRadius = 10; duration = 50; initialDepth = 57.431837; finalDepth = 57.892789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.892789 # Seafloor depth:-97.892789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.431837 meters looking forward 0.000000 meters along route # Maximum depth: 97.431837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.431837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807986; longitude = -121.975029; captureRadius = 10; duration = 50; initialDepth = 57.191557; finalDepth = 57.431837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.431837 # Seafloor depth:-97.431837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.191557 meters looking forward 0.000000 meters along route # Maximum depth: 97.191557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.191557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807739; longitude = -121.974524; captureRadius = 10; duration = 50; initialDepth = 56.601119; finalDepth = 57.191557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.191557 # Seafloor depth:-97.191557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.601119 meters looking forward 0.000000 meters along route # Maximum depth: 96.601119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.601119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807492; longitude = -121.974020; captureRadius = 10; duration = 50; initialDepth = 56.276550; finalDepth = 56.601119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.601119 # Seafloor depth:-96.601119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.276550 meters looking forward 0.000000 meters along route # Maximum depth: 96.276550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.276550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807245; longitude = -121.973516; captureRadius = 10; duration = 50; initialDepth = 56.094692; finalDepth = 56.276550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.27655 # Seafloor depth:-96.276550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.094692 meters looking forward 0.000000 meters along route # Maximum depth: 96.094692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.094692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806999; longitude = -121.973011; captureRadius = 10; duration = 50; initialDepth = 56.121272; finalDepth = 56.094692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.094692 # Seafloor depth:-96.094692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.121272 meters looking forward 0.000000 meters along route # Maximum depth: 96.121272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.121272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806752; longitude = -121.972507; captureRadius = 10; duration = 50; initialDepth = 56.154746; finalDepth = 56.121272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.121272 # Seafloor depth:-96.121272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.154746 meters looking forward 0.000000 meters along route # Maximum depth: 96.154746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.154746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806505; longitude = -121.972002; captureRadius = 10; duration = 50; initialDepth = 55.702311; finalDepth = 56.154746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.154746 # Seafloor depth:-96.154746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.702311 meters looking forward 0.000000 meters along route # Maximum depth: 95.702311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.702311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806258; longitude = -121.971498; captureRadius = 10; duration = 50; initialDepth = 56.133913; finalDepth = 55.702311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.702311 # Seafloor depth:-95.702311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.133913 meters looking forward 0.000000 meters along route # Maximum depth: 96.133913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.133913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806011; longitude = -121.970993; captureRadius = 10; duration = 50; initialDepth = 56.060915; finalDepth = 56.133913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.133913 # Seafloor depth:-96.133913 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 12 # Segment length 50.380846 meters # Minimum depth: 96.060915 meters looking forward 0.000000 meters along route # Maximum depth: 96.060915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.060915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805755; longitude = -121.970470; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 55.651589; finalDepth = 56.060915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.060915 # Seafloor depth:-96.060915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.651589 meters looking forward 0.000000 meters along route # Maximum depth: 95.651589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.651589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806146; longitude = -121.970138; captureRadius = 10; duration = 50; initialDepth = 55.528796; finalDepth = 55.651589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.651589 # Seafloor depth:-95.651589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.528796 meters looking forward 0.000000 meters along route # Maximum depth: 95.528796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.528796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806523; longitude = -121.969817; captureRadius = 10; duration = 50; initialDepth = 55.584343; finalDepth = 55.528796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.528796 # Seafloor depth:-95.528796 # behavior reson { duration = 6; 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 11 # Segment length 50.380846 meters # Minimum depth: 95.584343 meters looking forward 0.000000 meters along route # Maximum depth: 95.584343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.584343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806897; longitude = -121.969499; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 55.586836; finalDepth = 55.584343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.584343 # Seafloor depth:-95.584343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.586836 meters looking forward 0.000000 meters along route # Maximum depth: 95.586836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.586836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807023; longitude = -121.969761; captureRadius = 10; duration = 50; initialDepth = 55.928993; finalDepth = 55.586836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.586836 # Seafloor depth:-95.586836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.928993 meters looking forward 0.000000 meters along route # Maximum depth: 95.928993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.928993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807273; longitude = -121.970281; captureRadius = 10; duration = 50; initialDepth = 55.013758; finalDepth = 55.928993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.928993 # Seafloor depth:-95.928993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.013758 meters looking forward 0.000000 meters along route # Maximum depth: 95.013758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.013758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807507; longitude = -121.970769; captureRadius = 10; duration = 50; initialDepth = 55.195694; finalDepth = 55.013758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.013758 # Seafloor depth:-95.013758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.195694 meters looking forward 0.000000 meters along route # Maximum depth: 95.195694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.195694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807749; longitude = -121.971274; captureRadius = 10; duration = 50; initialDepth = 54.582246; finalDepth = 55.195694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.195694 # Seafloor depth:-95.195694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.582246 meters looking forward 0.000000 meters along route # Maximum depth: 94.582246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.582246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807994; longitude = -121.971784; captureRadius = 10; duration = 50; initialDepth = 54.789202; finalDepth = 54.582246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.582246 # Seafloor depth:-94.582246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.789202 meters looking forward 0.000000 meters along route # Maximum depth: 94.789202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.789202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808233; longitude = -121.972283; captureRadius = 10; duration = 50; initialDepth = 54.426557; finalDepth = 54.789202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.789202 # Seafloor depth:-94.789202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.426557 meters looking forward 0.000000 meters along route # Maximum depth: 94.426557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.426557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808475; longitude = -121.972787; captureRadius = 10; duration = 50; initialDepth = 54.927716; finalDepth = 54.426557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.426557 # Seafloor depth:-94.426557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.927716 meters looking forward 0.000000 meters along route # Maximum depth: 94.927716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.927716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808717; longitude = -121.973291; captureRadius = 10; duration = 50; initialDepth = 55.276431; finalDepth = 54.927716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.927716 # Seafloor depth:-94.927716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.276431 meters looking forward 0.000000 meters along route # Maximum depth: 95.276431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.276431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808959; longitude = -121.973796; captureRadius = 10; duration = 50; initialDepth = 55.714201; finalDepth = 55.276431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.276431 # Seafloor depth:-95.276431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.714201 meters looking forward 0.000000 meters along route # Maximum depth: 95.714201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.714201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809210; longitude = -121.974318; captureRadius = 10; duration = 50; initialDepth = 56.247731; finalDepth = 55.714201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.714201 # Seafloor depth:-95.714201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.247731 meters looking forward 0.000000 meters along route # Maximum depth: 96.247731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.247731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809444; longitude = -121.974805; captureRadius = 10; duration = 50; initialDepth = 57.168116; finalDepth = 56.247731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.247731 # Seafloor depth:-96.247731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.168116 meters looking forward 0.000000 meters along route # Maximum depth: 97.168116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.168116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809686; longitude = -121.975309; captureRadius = 10; duration = 50; initialDepth = 58.927830; finalDepth = 57.168116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.168116 # Seafloor depth:-97.168116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 98.927830 meters looking forward 0.000000 meters along route # Maximum depth: 98.927830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.927830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809931; longitude = -121.975821; captureRadius = 10; duration = 50; initialDepth = 68.664093; finalDepth = 58.927830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.92783 # Seafloor depth:-98.927830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 108.664093 meters looking forward 0.000000 meters along route # Maximum depth: 108.664093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.664093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810170; longitude = -121.976318; captureRadius = 10; duration = 50; initialDepth = 88.264950; finalDepth = 68.664093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.664093 # Seafloor depth:-108.664093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 128.264950 meters looking forward 0.000000 meters along route # Maximum depth: 128.264950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.264950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810412; longitude = -121.976822; captureRadius = 10; duration = 50; initialDepth = 105.603205; finalDepth = 88.264950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:88.26495 # Seafloor depth:-128.264950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 145.603205 meters looking forward 0.000000 meters along route # Maximum depth: 145.603205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.603205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810654; longitude = -121.977327; captureRadius = 10; duration = 50; initialDepth = 124.137474; finalDepth = 105.603205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:105.603205 # Seafloor depth:-145.603205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 164.137474 meters looking forward 0.000000 meters along route # Maximum depth: 164.137474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.137474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810896; longitude = -121.977831; captureRadius = 10; duration = 50; initialDepth = 144.354704; finalDepth = 124.137474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:124.137474 # Seafloor depth:-164.137474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 184.354704 meters looking forward 0.000000 meters along route # Maximum depth: 184.354704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.354704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811148; longitude = -121.978356; captureRadius = 10; duration = 50; initialDepth = 157.257122; finalDepth = 144.354704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:144.354704 # Seafloor depth:-184.354704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 197.257122 meters looking forward 0.000000 meters along route # Maximum depth: 197.257122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.257122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811380; longitude = -121.978840; captureRadius = 10; duration = 50; initialDepth = 166.866278; finalDepth = 157.257122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:157.257122 # Seafloor depth:-197.257122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 206.866278 meters looking forward 0.000000 meters along route # Maximum depth: 206.866278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.866278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811622; longitude = -121.979344; captureRadius = 10; duration = 50; initialDepth = 175.950162; finalDepth = 166.866278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:166.866278 # Seafloor depth:-206.866278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 215.950162 meters looking forward 0.000000 meters along route # Maximum depth: 215.950162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.950162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811869; longitude = -121.979858; captureRadius = 10; duration = 50; initialDepth = 186.408787; finalDepth = 175.950162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:175.950162 # Seafloor depth:-215.950162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 226.408787 meters looking forward 0.000000 meters along route # Maximum depth: 226.408787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.408787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812107; longitude = -121.980353; captureRadius = 10; duration = 50; initialDepth = 198.298297; finalDepth = 186.408787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:186.408787 # Seafloor depth:-226.408787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 238.298297 meters looking forward 0.000000 meters along route # Maximum depth: 238.298297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 198.298297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812349; longitude = -121.980857; captureRadius = 10; duration = 50; initialDepth = 205.333640; finalDepth = 198.298297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:198.298297 # Seafloor depth:-238.298297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 245.333640 meters looking forward 0.000000 meters along route # Maximum depth: 245.333640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 205.333640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812591; longitude = -121.981362; captureRadius = 10; duration = 50; initialDepth = 213.287442; finalDepth = 205.333640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:205.33364 # Seafloor depth:-245.333640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 253.287442 meters looking forward 0.000000 meters along route # Maximum depth: 253.287442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.287442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812833; longitude = -121.981866; captureRadius = 10; duration = 50; initialDepth = 218.653502; finalDepth = 213.287442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:213.287442 # Seafloor depth:-253.287442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 258.653502 meters looking forward 0.000000 meters along route # Maximum depth: 258.653502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.653502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813086; longitude = -121.982393; captureRadius = 10; duration = 50; initialDepth = 224.086769; finalDepth = 218.653502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:218.653502 # Seafloor depth:-258.653502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 264.086769 meters looking forward 0.000000 meters along route # Maximum depth: 264.086769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 224.086769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813317; longitude = -121.982875; captureRadius = 10; duration = 50; initialDepth = 234.067825; finalDepth = 224.086769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:224.086769 # Seafloor depth:-264.086769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 274.067825 meters looking forward 0.000000 meters along route # Maximum depth: 274.067825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.067825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813559; longitude = -121.983379; captureRadius = 10; duration = 50; initialDepth = 245.851371; finalDepth = 234.067825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:234.067825 # Seafloor depth:-274.067825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 285.851371 meters looking forward 0.000000 meters along route # Maximum depth: 285.851371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.851371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813807; longitude = -121.983895; captureRadius = 10; duration = 50; initialDepth = 258.067592; finalDepth = 245.851371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:245.851371 # Seafloor depth:-285.851371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 298.067592 meters looking forward 0.000000 meters along route # Maximum depth: 298.067592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.067592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814043; longitude = -121.984388; captureRadius = 10; duration = 50; initialDepth = 273.472489; finalDepth = 258.067592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:258.067592 # Seafloor depth:-298.067592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 313.472489 meters looking forward 0.000000 meters along route # Maximum depth: 313.472489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 273.472489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814286; longitude = -121.984893; captureRadius = 10; duration = 50; initialDepth = 291.521064; finalDepth = 273.472489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:273.472489 # Seafloor depth:-313.472489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 331.521064 meters looking forward 0.000000 meters along route # Maximum depth: 331.521064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 291.521064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814528; longitude = -121.985397; captureRadius = 10; duration = 50; initialDepth = 309.454877; finalDepth = 291.521064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:291.521064 # Seafloor depth:-331.521064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 349.454877 meters looking forward 0.000000 meters along route # Maximum depth: 349.454877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.454877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814770; longitude = -121.985901; captureRadius = 10; duration = 50; initialDepth = 324.651897; finalDepth = 309.454877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:309.454877 # Seafloor depth:-349.454877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 364.651897 meters looking forward 0.000000 meters along route # Maximum depth: 364.651897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.651897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815012; longitude = -121.986406; captureRadius = 10; duration = 50; initialDepth = 339.255746; finalDepth = 324.651897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:324.651897 # Seafloor depth:-364.651897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 379.255746 meters looking forward 0.000000 meters along route # Maximum depth: 379.255746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.255746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815254; longitude = -121.986910; captureRadius = 10; duration = 50; initialDepth = 359.284172; finalDepth = 339.255746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:339.255746 # Seafloor depth:-379.255746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 399.284172 meters looking forward 0.000000 meters along route # Maximum depth: 399.284172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.284172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815496; longitude = -121.987415; captureRadius = 10; duration = 50; initialDepth = 384.616562; finalDepth = 359.284172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:359.284172 # Seafloor depth:-399.284172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 424.616562 meters looking forward 0.000000 meters along route # Maximum depth: 424.616562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.616562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815744; longitude = -121.987932; captureRadius = 10; duration = 50; initialDepth = 410.160306; finalDepth = 384.616562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:384.616562 # Seafloor depth:-424.616562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 456.784692 meters looking forward 0.000000 meters along route # Maximum depth: 456.784692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.160306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815980; longitude = -121.988423; captureRadius = 10; duration = 50; initialDepth = 436.359864; finalDepth = 410.160306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6243864999997 # Actual altitude: 50 # Commanded vehicle depth:410.1603055 # Seafloor depth:-456.784692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 486.446372 meters looking forward 0.000000 meters along route # Maximum depth: 486.446372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.359864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816222; longitude = -121.988928; captureRadius = 10; duration = 50; initialDepth = 462.640743; finalDepth = 436.359864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0865084999994 # Actual altitude: 50.0865084999994 # Commanded vehicle depth:436.359863500001 # Seafloor depth:-486.446372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.380846 meters # Minimum depth: 514.094054 meters looking forward 0.000000 meters along route # Maximum depth: 514.094054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.640743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816465; longitude = -121.989434; captureRadius = 10; duration = 50; initialDepth = 485.902463; finalDepth = 462.640743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4533109999994 # Actual altitude: 51.4533109999994 # Commanded vehicle depth:462.640743000001 # Seafloor depth:-514.094054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.380846 meters # Minimum depth: 525.902463 meters looking forward 0.000000 meters along route # Maximum depth: 525.902463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.902463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816707; longitude = -121.989937; captureRadius = 10; duration = 50; initialDepth = 489.406619; finalDepth = 485.902463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4533109999994 # Actual altitude: 51.4533109999994 # Commanded vehicle depth:485.902463 # Seafloor depth:-525.902463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.380846 meters # Minimum depth: 529.406619 meters looking forward 0.000000 meters along route # Maximum depth: 529.406619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.406619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816949; longitude = -121.990441; captureRadius = 10; duration = 50; initialDepth = 492.990078; finalDepth = 489.406619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.406619 # Seafloor depth:-529.406619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 532.990078 meters looking forward 0.000000 meters along route # Maximum depth: 532.990078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.990078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817191; longitude = -121.990945; captureRadius = 10; duration = 50; initialDepth = 492.444992; finalDepth = 492.990078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:492.990078 # Seafloor depth:-532.990078 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 meters # Minimum depth: 532.444992 meters looking forward 0.000000 meters along route # Maximum depth: 532.444992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.444992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817442; longitude = -121.991469; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 492.350101; finalDepth = 492.444992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:492.444992 # Seafloor depth:-532.444992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 532.350101 meters looking forward 0.000000 meters along route # Maximum depth: 532.350101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.350101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817637; longitude = -121.991850; captureRadius = 10; duration = 50; initialDepth = 489.635621; finalDepth = 492.350101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:492.350101 # Seafloor depth:-532.350101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 529.635621 meters looking forward 0.000000 meters along route # Maximum depth: 529.635621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.635621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817891; longitude = -121.992347; captureRadius = 10; duration = 50; initialDepth = 487.750379; finalDepth = 489.635621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.635621 # Seafloor depth:-529.635621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 527.750379 meters looking forward 0.000000 meters along route # Maximum depth: 527.750379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.750379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818132; longitude = -121.992820; captureRadius = 10; duration = 50; initialDepth = 483.293730; finalDepth = 487.750379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.750379 # Seafloor depth:-527.750379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 523.293730 meters looking forward 0.000000 meters along route # Maximum depth: 523.293730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.293730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818378; longitude = -121.993299; captureRadius = 10; duration = 50; initialDepth = 470.730756; finalDepth = 483.293730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.29373 # Seafloor depth:-523.293730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 510.730756 meters looking forward 0.000000 meters along route # Maximum depth: 510.730756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.730756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818635; longitude = -121.993804; captureRadius = 10; duration = 50; initialDepth = 453.943231; finalDepth = 470.730756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.730756 # Seafloor depth:-510.730756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 493.943231 meters looking forward 0.000000 meters along route # Maximum depth: 493.943231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.943231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818898; longitude = -121.994318; captureRadius = 10; duration = 50; initialDepth = 435.909913; finalDepth = 453.943231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.943231 # Seafloor depth:-493.943231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 475.909913 meters looking forward 0.000000 meters along route # Maximum depth: 475.909913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.909913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819151; longitude = -121.994813; captureRadius = 10; duration = 50; initialDepth = 415.094949; finalDepth = 435.909913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.909913 # Seafloor depth:-475.909913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 455.094949 meters looking forward 0.000000 meters along route # Maximum depth: 455.094949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.094949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819394; longitude = -121.995288; captureRadius = 10; duration = 50; initialDepth = 393.006141; finalDepth = 415.094949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:415.094949 # Seafloor depth:-455.094949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 433.006141 meters looking forward 0.000000 meters along route # Maximum depth: 433.006141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.006141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819638; longitude = -121.995765; captureRadius = 10; duration = 50; initialDepth = 375.981348; finalDepth = 393.006141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.006141 # Seafloor depth:-433.006141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 415.981348 meters looking forward 0.000000 meters along route # Maximum depth: 415.981348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.981348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819896; longitude = -121.996270; captureRadius = 10; duration = 50; initialDepth = 358.388700; finalDepth = 375.981348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:375.981348 # Seafloor depth:-415.981348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 398.388700 meters looking forward 0.000000 meters along route # Maximum depth: 398.388700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.388700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820160; longitude = -121.996787; captureRadius = 10; duration = 50; initialDepth = 340.062385; finalDepth = 358.388700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:358.3887 # Seafloor depth:-398.388700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 380.062385 meters looking forward 0.000000 meters along route # Maximum depth: 380.062385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 340.062385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820412; longitude = -121.997278; captureRadius = 10; duration = 50; initialDepth = 317.302338; finalDepth = 340.062385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:340.062385 # Seafloor depth:-380.062385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 357.302338 meters looking forward 0.000000 meters along route # Maximum depth: 357.302338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 317.302338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820669; longitude = -121.997783; captureRadius = 10; duration = 50; initialDepth = 287.270546; finalDepth = 317.302338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:317.302338 # Seafloor depth:-357.302338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 327.270546 meters looking forward 0.000000 meters along route # Maximum depth: 327.270546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.270546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820927; longitude = -121.998287; captureRadius = 10; duration = 50; initialDepth = 259.552722; finalDepth = 287.270546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:287.270546 # Seafloor depth:-327.270546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 299.552722 meters looking forward 0.000000 meters along route # Maximum depth: 299.552722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.552722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821197; longitude = -121.998814; captureRadius = 10; duration = 50; initialDepth = 235.975207; finalDepth = 259.552722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:259.552722 # Seafloor depth:-299.552722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 275.975207 meters looking forward 0.000000 meters along route # Maximum depth: 275.975207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.975207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821443; longitude = -121.999296; captureRadius = 10; duration = 50; initialDepth = 205.778303; finalDepth = 235.975207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:235.975207 # Seafloor depth:-275.975207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 245.778303 meters looking forward 0.000000 meters along route # Maximum depth: 245.778303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 205.778303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821701; longitude = -121.999800; captureRadius = 10; duration = 50; initialDepth = 170.024036; finalDepth = 205.778303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:205.778303 # Seafloor depth:-245.778303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 210.024036 meters looking forward 0.000000 meters along route # Maximum depth: 210.024036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.024036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821963; longitude = -122.000313; captureRadius = 10; duration = 50; initialDepth = 138.887613; finalDepth = 170.024036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:170.024036 # Seafloor depth:-210.024036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 178.887613 meters looking forward 0.000000 meters along route # Maximum depth: 178.887613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.887613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822216; longitude = -122.000809; captureRadius = 10; duration = 50; initialDepth = 112.092953; finalDepth = 138.887613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:138.887613 # Seafloor depth:-178.887613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 152.092953 meters looking forward 0.000000 meters along route # Maximum depth: 152.092953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.092953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822458; longitude = -122.001283; captureRadius = 10; duration = 50; initialDepth = 96.540086; finalDepth = 112.092953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:112.092953 # Seafloor depth:-152.092953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 136.540086 meters looking forward 0.000000 meters along route # Maximum depth: 136.540086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.540086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822703; longitude = -122.001762; captureRadius = 10; duration = 50; initialDepth = 90.798974; finalDepth = 96.540086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:96.540086 # Seafloor depth:-136.540086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 130.798974 meters looking forward 0.000000 meters along route # Maximum depth: 130.798974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.798974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822961; longitude = -122.002266; captureRadius = 10; duration = 50; initialDepth = 82.068106; finalDepth = 90.798974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:90.798974 # Seafloor depth:-130.798974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 122.068106 meters looking forward 0.000000 meters along route # Maximum depth: 122.068106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.068106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823224; longitude = -122.002781; captureRadius = 10; duration = 50; initialDepth = 74.393012; finalDepth = 82.068106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:82.068106 # Seafloor depth:-122.068106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 114.393012 meters looking forward 0.000000 meters along route # Maximum depth: 114.393012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.393012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823477; longitude = -122.003275; captureRadius = 10; duration = 50; initialDepth = 65.977272; finalDepth = 74.393012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:74.393012 # Seafloor depth:-114.393012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 105.977272 meters looking forward 0.000000 meters along route # Maximum depth: 105.977272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.977272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823720; longitude = -122.003751; captureRadius = 10; duration = 50; initialDepth = 62.300143; finalDepth = 65.977272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.977272 # Seafloor depth:-105.977272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 102.300143 meters looking forward 0.000000 meters along route # Maximum depth: 102.300143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.300143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823964; longitude = -122.004228; captureRadius = 10; duration = 50; initialDepth = 60.654444; finalDepth = 62.300143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.300143 # Seafloor depth:-102.300143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 100.654444 meters looking forward 0.000000 meters along route # Maximum depth: 100.654444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.654444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824222; longitude = -122.004732; captureRadius = 10; duration = 50; initialDepth = 59.600158; finalDepth = 60.654444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.654444 # Seafloor depth:-100.654444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 99.600158 meters looking forward 0.000000 meters along route # Maximum depth: 99.600158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.600158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824486; longitude = -122.005250; captureRadius = 10; duration = 50; initialDepth = 58.334871; finalDepth = 59.600158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.600158 # Seafloor depth:-99.600158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 98.334871 meters looking forward 0.000000 meters along route # Maximum depth: 98.334871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.334871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824737; longitude = -122.005741; captureRadius = 10; duration = 50; initialDepth = 57.150503; finalDepth = 58.334871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.334871 # Seafloor depth:-98.334871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.150503 meters looking forward 0.000000 meters along route # Maximum depth: 97.150503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.150503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824982; longitude = -122.006220; captureRadius = 10; duration = 50; initialDepth = 56.723209; finalDepth = 57.150503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.150503 # Seafloor depth:-97.150503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.723209 meters looking forward 0.000000 meters along route # Maximum depth: 96.723209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.723209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825224; longitude = -122.006694; captureRadius = 10; duration = 50; initialDepth = 56.002274; finalDepth = 56.723209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.723209 # Seafloor depth:-96.723209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.002274 meters looking forward 0.000000 meters along route # Maximum depth: 96.002274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.002274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825482; longitude = -122.007198; captureRadius = 10; duration = 50; initialDepth = 55.852441; finalDepth = 56.002274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.002274 # Seafloor depth:-96.002274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.852441 meters looking forward 0.000000 meters along route # Maximum depth: 95.852441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.852441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825740; longitude = -122.007703; captureRadius = 10; duration = 50; initialDepth = 55.094315; finalDepth = 55.852441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.852441 # Seafloor depth:-95.852441 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 9 # Segment length 50.380846 meters # Minimum depth: 95.094315 meters looking forward 0.000000 meters along route # Maximum depth: 95.094315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.094315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825988; longitude = -122.008188; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 54.760788; finalDepth = 55.094315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.094315 # Seafloor depth:-95.094315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.760788 meters looking forward 0.000000 meters along route # Maximum depth: 94.760788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.760788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826379; longitude = -122.007905; captureRadius = 10; duration = 50; initialDepth = 54.416767; finalDepth = 54.760788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.760788 # Seafloor depth:-94.760788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.416767 meters looking forward 0.000000 meters along route # Maximum depth: 94.416767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.416767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826784; longitude = -122.007612; captureRadius = 10; duration = 50; initialDepth = 53.930040; finalDepth = 54.416767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.416767 # Seafloor depth:-94.416767 # behavior reson { duration = 6; 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 8 # Segment length 50.380846 meters # Minimum depth: 93.930040 meters looking forward 0.000000 meters along route # Maximum depth: 93.930040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.930040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827175; longitude = -122.007329; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 54.163288; finalDepth = 53.930040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.93004 # Seafloor depth:-93.930040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.163288 meters looking forward 0.000000 meters along route # Maximum depth: 94.163288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.163288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826990; longitude = -122.006974; captureRadius = 10; duration = 50; initialDepth = 54.329686; finalDepth = 54.163288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.163288 # Seafloor depth:-94.163288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.329686 meters looking forward 0.000000 meters along route # Maximum depth: 94.329686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.329686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826739; longitude = -122.006494; captureRadius = 10; duration = 50; initialDepth = 54.492015; finalDepth = 54.329686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.329686 # Seafloor depth:-94.329686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.492015 meters looking forward 0.000000 meters along route # Maximum depth: 94.492015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.492015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826493; longitude = -122.006021; captureRadius = 10; duration = 50; initialDepth = 54.413327; finalDepth = 54.492015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.492015 # Seafloor depth:-94.492015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.413327 meters looking forward 0.000000 meters along route # Maximum depth: 94.413327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.413327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826244; longitude = -122.005543; captureRadius = 10; duration = 50; initialDepth = 54.686331; finalDepth = 54.413327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.413327 # Seafloor depth:-94.413327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.686331 meters looking forward 0.000000 meters along route # Maximum depth: 94.686331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.686331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825996; longitude = -122.005069; captureRadius = 10; duration = 50; initialDepth = 55.373215; finalDepth = 54.686331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.686331 # Seafloor depth:-94.686331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.373215 meters looking forward 0.000000 meters along route # Maximum depth: 95.373215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.373215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825748; longitude = -122.004593; captureRadius = 10; duration = 50; initialDepth = 55.858005; finalDepth = 55.373215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.373215 # Seafloor depth:-95.373215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.858005 meters looking forward 0.000000 meters along route # Maximum depth: 95.858005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.858005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825499; longitude = -122.004116; captureRadius = 10; duration = 50; initialDepth = 57.403055; finalDepth = 55.858005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.858005 # Seafloor depth:-95.858005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.403055 meters looking forward 0.000000 meters along route # Maximum depth: 97.403055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.403055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825252; longitude = -122.003643; captureRadius = 10; duration = 50; initialDepth = 57.536966; finalDepth = 57.403055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.403055 # Seafloor depth:-97.403055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.536966 meters looking forward 0.000000 meters along route # Maximum depth: 97.536966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.536966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825002; longitude = -122.003163; captureRadius = 10; duration = 50; initialDepth = 57.058466; finalDepth = 57.536966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.536966 # Seafloor depth:-97.536966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.058466 meters looking forward 0.000000 meters along route # Maximum depth: 97.058466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.058466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824757; longitude = -122.002692; captureRadius = 10; duration = 50; initialDepth = 56.317287; finalDepth = 57.058466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.058466 # Seafloor depth:-97.058466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.317287 meters looking forward 0.000000 meters along route # Maximum depth: 96.317287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.317287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824505; longitude = -122.002210; captureRadius = 10; duration = 50; initialDepth = 63.555855; finalDepth = 56.317287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.317287 # Seafloor depth:-96.317287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 103.555855 meters looking forward 0.000000 meters along route # Maximum depth: 103.555855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.555855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824242; longitude = -122.001706; captureRadius = 10; duration = 50; initialDepth = 79.526083; finalDepth = 63.555855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.555855 # Seafloor depth:-103.555855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 119.526083 meters looking forward 0.000000 meters along route # Maximum depth: 119.526083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.526083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823990; longitude = -122.001224; captureRadius = 10; duration = 50; initialDepth = 91.336532; finalDepth = 79.526083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:79.526083 # Seafloor depth:-119.526083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 131.336532 meters looking forward 0.000000 meters along route # Maximum depth: 131.336532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.336532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823745; longitude = -122.000753; captureRadius = 10; duration = 50; initialDepth = 104.577103; finalDepth = 91.336532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:91.336532 # Seafloor depth:-131.336532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 144.577103 meters looking forward 0.000000 meters along route # Maximum depth: 144.577103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.577103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823495; longitude = -122.000273; captureRadius = 10; duration = 50; initialDepth = 126.673822; finalDepth = 104.577103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:104.577103 # Seafloor depth:-144.577103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 166.673822 meters looking forward 0.000000 meters along route # Maximum depth: 166.673822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.673822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823248; longitude = -121.999800; captureRadius = 10; duration = 50; initialDepth = 152.057565; finalDepth = 126.673822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:126.673822 # Seafloor depth:-166.673822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 193.153762 meters looking forward 0.000000 meters along route # Maximum depth: 193.153762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.057565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822999; longitude = -121.999323; captureRadius = 10; duration = 50; initialDepth = 177.321299; finalDepth = 152.057565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0961970000006 # Actual altitude: 50 # Commanded vehicle depth:152.057564999999 # Seafloor depth:-193.153762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 236.942396 meters looking forward 0.000000 meters along route # Maximum depth: 236.942396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.321299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822751; longitude = -121.998848; captureRadius = 10; duration = 50; initialDepth = 202.575440; finalDepth = 177.321299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.6210965000003 # Actual altitude: 59.6210965000003 # Commanded vehicle depth:177.3212995 # Seafloor depth:-236.942396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.85; MB_Bottom_Detect_Filter_Max_Range = 238.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.380846 meters # Minimum depth: 266.768172 meters looking forward 0.000000 meters along route # Maximum depth: 266.768172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.575440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822503; longitude = -121.998373; captureRadius = 10; duration = 50; initialDepth = 227.969015; finalDepth = 202.575440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.1927320000001 # Actual altitude: 64.1927320000001 # Commanded vehicle depth:202.57544 # Seafloor depth:-266.768172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 256.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.380846 meters # Minimum depth: 303.863462 meters looking forward 0.000000 meters along route # Maximum depth: 303.863462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.969015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822254; longitude = -121.997895; captureRadius = 10; duration = 50; initialDepth = 253.093552; finalDepth = 227.969015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.8944465000008 # Actual altitude: 75.8944465000008 # Commanded vehicle depth:227.969015499999 # Seafloor depth:-303.863462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 303.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.36; MB_Bottom_Detect_Filter_Max_Range = 303.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.380846 meters # Minimum depth: 337.683455 meters looking forward 0.000000 meters along route # Maximum depth: 337.683455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 253.093552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822008; longitude = -121.997422; captureRadius = 10; duration = 50; initialDepth = 278.616970; finalDepth = 253.093552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5899030000004 # Actual altitude: 84.5899030000004 # Commanded vehicle depth:253.093552 # Seafloor depth:-337.683455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 338.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.84; MB_Bottom_Detect_Filter_Max_Range = 338.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.380846 meters # Minimum depth: 360.341373 meters looking forward 0.000000 meters along route # Maximum depth: 360.341373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.616970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821757; longitude = -121.996942; captureRadius = 10; duration = 50; initialDepth = 305.430690; finalDepth = 278.616970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5899030000004 # Actual altitude: 84.5899030000004 # Commanded vehicle depth:278.616969999999 # Seafloor depth:-360.341373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 338.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.84; MB_Bottom_Detect_Filter_Max_Range = 338.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.380846 meters # Minimum depth: 376.783343 meters looking forward 0.000000 meters along route # Maximum depth: 376.783343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 305.430690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821494; longitude = -121.996438; captureRadius = 10; duration = 50; initialDepth = 332.244476; finalDepth = 305.430690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7244030000006 # Actual altitude: 81.7244030000006 # Commanded vehicle depth:305.430689999999 # Seafloor depth:-376.783343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 326.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.69; MB_Bottom_Detect_Filter_Max_Range = 326.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.380846 meters # Minimum depth: 389.148890 meters looking forward 0.000000 meters along route # Maximum depth: 389.148890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.244476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821231; longitude = -121.995933; captureRadius = 10; duration = 50; initialDepth = 359.058330; finalDepth = 332.244476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3526530000005 # Actual altitude: 71.3526530000005 # Commanded vehicle depth:332.244476499999 # Seafloor depth:-389.148890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 285.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.54; MB_Bottom_Detect_Filter_Max_Range = 285.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.380846 meters # Minimum depth: 406.838514 meters looking forward 0.000000 meters along route # Maximum depth: 406.838514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.058330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820968; longitude = -121.995429; captureRadius = 10; duration = 50; initialDepth = 386.278805; finalDepth = 359.058330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9044135000007 # Actual altitude: 56.9044135000007 # Commanded vehicle depth:359.058329999999 # Seafloor depth:-406.838514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.76; MB_Bottom_Detect_Filter_Max_Range = 227.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.380846 meters # Minimum depth: 439.240757 meters looking forward 0.000000 meters along route # Maximum depth: 439.240757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.278805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820701; longitude = -121.994917; captureRadius = 10; duration = 50; initialDepth = 413.834581; finalDepth = 386.278805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9619520000007 # Actual altitude: 52.9619520000007 # Commanded vehicle depth:386.278804999999 # Seafloor depth:-439.240757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.380846 meters # Minimum depth: 464.475196 meters looking forward 0.000000 meters along route # Maximum depth: 464.475196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.834581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820431; longitude = -121.994399; captureRadius = 10; duration = 50; initialDepth = 439.500292; finalDepth = 413.834581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9619520000007 # Actual altitude: 52.9619520000007 # Commanded vehicle depth:413.834580999999 # Seafloor depth:-464.475196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.380846 meters # Minimum depth: 490.643579 meters looking forward 0.000000 meters along route # Maximum depth: 490.643579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.500292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820179; longitude = -121.993916; captureRadius = 10; duration = 50; initialDepth = 466.314414; finalDepth = 439.500292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1432865000008 # Actual altitude: 51.1432865000008 # Commanded vehicle depth:439.500292499999 # Seafloor depth:-490.643579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.380846 meters # Minimum depth: 510.635809 meters looking forward 0.000000 meters along route # Maximum depth: 510.635809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.314414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819916; longitude = -121.993411; captureRadius = 10; duration = 50; initialDepth = 475.652012; finalDepth = 466.314414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1432865000008 # Actual altitude: 51.1432865000008 # Commanded vehicle depth:466.314414 # Seafloor depth:-510.635809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.380846 meters # Minimum depth: 515.652012 meters looking forward 0.000000 meters along route # Maximum depth: 515.652012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.652012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819665; longitude = -121.992930; captureRadius = 10; duration = 50; initialDepth = 480.529510; finalDepth = 475.652012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.3213950000003 # Actual altitude: 50 # Commanded vehicle depth:475.652012 # Seafloor depth:-515.652012 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 meters # Minimum depth: 520.529510 meters looking forward 0.000000 meters along route # Maximum depth: 520.529510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.529510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819409; longitude = -121.992440; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 481.110086; finalDepth = 480.529510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.52951 # Seafloor depth:-520.529510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 521.110086 meters looking forward 0.000000 meters along route # Maximum depth: 521.110086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.110086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819364; longitude = -121.992347; captureRadius = 10; duration = 50; initialDepth = 483.675164; finalDepth = 481.110086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.110086 # Seafloor depth:-521.110086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 523.675164 meters looking forward 0.000000 meters along route # Maximum depth: 523.675164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.675164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819124; longitude = -121.991842; captureRadius = 10; duration = 50; initialDepth = 483.940643; finalDepth = 483.675164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.675164 # Seafloor depth:-523.675164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 523.940643 meters looking forward 0.000000 meters along route # Maximum depth: 523.940643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.940643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818884; longitude = -121.991338; captureRadius = 10; duration = 50; initialDepth = 482.446059; finalDepth = 483.940643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.940643 # Seafloor depth:-523.940643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 522.446059 meters looking forward 0.000000 meters along route # Maximum depth: 522.446059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.446059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818643; longitude = -121.990833; captureRadius = 10; duration = 50; initialDepth = 479.228479; finalDepth = 482.446059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.446059 # Seafloor depth:-522.446059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 519.228479 meters looking forward 0.000000 meters along route # Maximum depth: 519.228479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.228479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818403; longitude = -121.990329; captureRadius = 10; duration = 50; initialDepth = 475.222833; finalDepth = 479.228479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.228479 # Seafloor depth:-519.228479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 515.222833 meters looking forward 0.000000 meters along route # Maximum depth: 515.222833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.222833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818162; longitude = -121.989825; captureRadius = 10; duration = 50; initialDepth = 469.588564; finalDepth = 475.222833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:475.222833 # Seafloor depth:-515.222833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 509.588564 meters looking forward 0.000000 meters along route # Maximum depth: 509.588564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.588564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817922; longitude = -121.989320; captureRadius = 10; duration = 50; initialDepth = 459.830495; finalDepth = 469.588564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.588564 # Seafloor depth:-509.588564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 499.830495 meters looking forward 0.000000 meters along route # Maximum depth: 499.830495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.830495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817681; longitude = -121.988816; captureRadius = 10; duration = 50; initialDepth = 440.336516; finalDepth = 459.830495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:459.830495 # Seafloor depth:-499.830495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 480.336516 meters looking forward 0.000000 meters along route # Maximum depth: 480.336516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.336516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817441; longitude = -121.988311; captureRadius = 10; duration = 50; initialDepth = 421.085790; finalDepth = 440.336516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.336516 # Seafloor depth:-480.336516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 461.085790 meters looking forward 0.000000 meters along route # Maximum depth: 461.085790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.085790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817200; longitude = -121.987807; captureRadius = 10; duration = 50; initialDepth = 397.943661; finalDepth = 421.085790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.08579 # Seafloor depth:-461.085790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 437.943661 meters looking forward 0.000000 meters along route # Maximum depth: 437.943661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.943661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816960; longitude = -121.987303; captureRadius = 10; duration = 50; initialDepth = 376.075169; finalDepth = 397.943661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:397.943661 # Seafloor depth:-437.943661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 416.075169 meters looking forward 0.000000 meters along route # Maximum depth: 416.075169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.075169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816719; longitude = -121.986798; captureRadius = 10; duration = 50; initialDepth = 354.484824; finalDepth = 376.075169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:376.075169 # Seafloor depth:-416.075169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 394.484824 meters looking forward 0.000000 meters along route # Maximum depth: 394.484824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.484824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816479; longitude = -121.986294; captureRadius = 10; duration = 50; initialDepth = 332.527190; finalDepth = 354.484824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:354.484824 # Seafloor depth:-394.484824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 372.527190 meters looking forward 0.000000 meters along route # Maximum depth: 372.527190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.527190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816238; longitude = -121.985789; captureRadius = 10; duration = 50; initialDepth = 316.306040; finalDepth = 332.527190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:332.52719 # Seafloor depth:-372.527190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 356.306040 meters looking forward 0.000000 meters along route # Maximum depth: 356.306040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 316.306040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815998; longitude = -121.985285; captureRadius = 10; duration = 50; initialDepth = 299.739700; finalDepth = 316.306040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:316.30604 # Seafloor depth:-356.306040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 339.739700 meters looking forward 0.000000 meters along route # Maximum depth: 339.739700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.739700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815758; longitude = -121.984781; captureRadius = 10; duration = 50; initialDepth = 281.003395; finalDepth = 299.739700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:299.7397 # Seafloor depth:-339.739700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 321.003395 meters looking forward 0.000000 meters along route # Maximum depth: 321.003395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.003395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815517; longitude = -121.984276; captureRadius = 10; duration = 50; initialDepth = 260.538026; finalDepth = 281.003395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:281.003395 # Seafloor depth:-321.003395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 300.538026 meters looking forward 0.000000 meters along route # Maximum depth: 300.538026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.538026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815277; longitude = -121.983772; captureRadius = 10; duration = 50; initialDepth = 239.080991; finalDepth = 260.538026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:260.538026 # Seafloor depth:-300.538026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 279.080991 meters looking forward 0.000000 meters along route # Maximum depth: 279.080991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.080991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815036; longitude = -121.983267; captureRadius = 10; duration = 50; initialDepth = 222.045450; finalDepth = 239.080991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:239.080991 # Seafloor depth:-279.080991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 262.045450 meters looking forward 0.000000 meters along route # Maximum depth: 262.045450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.045450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814796; longitude = -121.982763; captureRadius = 10; duration = 50; initialDepth = 204.331868; finalDepth = 222.045450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:222.04545 # Seafloor depth:-262.045450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 244.331868 meters looking forward 0.000000 meters along route # Maximum depth: 244.331868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.331868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814555; longitude = -121.982259; captureRadius = 10; duration = 50; initialDepth = 189.827567; finalDepth = 204.331868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:204.331868 # Seafloor depth:-244.331868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 229.827567 meters looking forward 0.000000 meters along route # Maximum depth: 229.827567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.827567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814315; longitude = -121.981754; captureRadius = 10; duration = 50; initialDepth = 180.900012; finalDepth = 189.827567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:189.827567 # Seafloor depth:-229.827567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 220.900012 meters looking forward 0.000000 meters along route # Maximum depth: 220.900012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.900012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814074; longitude = -121.981250; captureRadius = 10; duration = 50; initialDepth = 177.768012; finalDepth = 180.900012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:180.900012 # Seafloor depth:-220.900012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 217.768012 meters looking forward 0.000000 meters along route # Maximum depth: 217.768012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.768012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813834; longitude = -121.980745; captureRadius = 10; duration = 50; initialDepth = 170.996166; finalDepth = 177.768012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:177.768012 # Seafloor depth:-217.768012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 210.996166 meters looking forward 0.000000 meters along route # Maximum depth: 210.996166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.996166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813593; longitude = -121.980241; captureRadius = 10; duration = 50; initialDepth = 170.239664; finalDepth = 170.996166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:170.996166 # Seafloor depth:-210.996166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 210.239664 meters looking forward 0.000000 meters along route # Maximum depth: 210.239664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.239664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813353; longitude = -121.979737; captureRadius = 10; duration = 50; initialDepth = 165.558490; finalDepth = 170.239664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:170.239664 # Seafloor depth:-210.239664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 205.558490 meters looking forward 0.000000 meters along route # Maximum depth: 205.558490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.558490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813113; longitude = -121.979232; captureRadius = 10; duration = 50; initialDepth = 154.171515; finalDepth = 165.558490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:165.55849 # Seafloor depth:-205.558490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 194.171515 meters looking forward 0.000000 meters along route # Maximum depth: 194.171515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.171515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812872; longitude = -121.978728; captureRadius = 10; duration = 50; initialDepth = 144.384635; finalDepth = 154.171515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:154.171515 # Seafloor depth:-194.171515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 184.384635 meters looking forward 0.000000 meters along route # Maximum depth: 184.384635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.384635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812632; longitude = -121.978223; captureRadius = 10; duration = 50; initialDepth = 129.608728; finalDepth = 144.384635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:144.384635 # Seafloor depth:-184.384635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 169.608728 meters looking forward 0.000000 meters along route # Maximum depth: 169.608728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.608728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812391; longitude = -121.977719; captureRadius = 10; duration = 50; initialDepth = 108.824214; finalDepth = 129.608728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:129.608728 # Seafloor depth:-169.608728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 148.824214 meters looking forward 0.000000 meters along route # Maximum depth: 148.824214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.824214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812151; longitude = -121.977215; captureRadius = 10; duration = 50; initialDepth = 82.363473; finalDepth = 108.824214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:108.824214 # Seafloor depth:-148.824214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 122.363473 meters looking forward 0.000000 meters along route # Maximum depth: 122.363473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.363473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811910; longitude = -121.976710; captureRadius = 10; duration = 50; initialDepth = 65.432236; finalDepth = 82.363473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:82.363473 # Seafloor depth:-122.363473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 105.432236 meters looking forward 0.000000 meters along route # Maximum depth: 105.432236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.432236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811670; longitude = -121.976206; captureRadius = 10; duration = 50; initialDepth = 59.523971; finalDepth = 65.432236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.432236 # Seafloor depth:-105.432236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 99.523971 meters looking forward 0.000000 meters along route # Maximum depth: 99.523971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.523971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811429; longitude = -121.975701; captureRadius = 10; duration = 50; initialDepth = 54.712207; finalDepth = 59.523971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.523971 # Seafloor depth:-99.523971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.712207 meters looking forward 0.000000 meters along route # Maximum depth: 94.712207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.712207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811189; longitude = -121.975197; captureRadius = 10; duration = 50; initialDepth = 54.644826; finalDepth = 54.712207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.712207 # Seafloor depth:-94.712207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.644826 meters looking forward 0.000000 meters along route # Maximum depth: 94.644826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.644826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810948; longitude = -121.974693; captureRadius = 10; duration = 50; initialDepth = 54.381440; finalDepth = 54.644826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.644826 # Seafloor depth:-94.644826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.381440 meters looking forward 0.000000 meters along route # Maximum depth: 94.381440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.381440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810708; longitude = -121.974188; captureRadius = 10; duration = 50; initialDepth = 54.499694; finalDepth = 54.381440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.38144 # Seafloor depth:-94.381440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.499694 meters looking forward 0.000000 meters along route # Maximum depth: 94.499694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.499694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810468; longitude = -121.973684; captureRadius = 10; duration = 50; initialDepth = 53.952742; finalDepth = 54.499694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.499694 # Seafloor depth:-94.499694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 93.952742 meters looking forward 0.000000 meters along route # Maximum depth: 93.952742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.952742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810227; longitude = -121.973179; captureRadius = 10; duration = 50; initialDepth = 53.461207; finalDepth = 53.952742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.952742 # Seafloor depth:-93.952742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 93.461207 meters looking forward 0.000000 meters along route # Maximum depth: 93.461207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.461207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809976; longitude = -121.972653; captureRadius = 10; duration = 50; initialDepth = 53.281221; finalDepth = 53.461207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.461207 # Seafloor depth:-93.461207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 93.281221 meters looking forward 0.000000 meters along route # Maximum depth: 93.281221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.281221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809746; longitude = -121.972171; captureRadius = 10; duration = 50; initialDepth = 53.990204; finalDepth = 53.281221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.281221 # Seafloor depth:-93.281221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 93.990204 meters looking forward 0.000000 meters along route # Maximum depth: 93.990204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.990204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809506; longitude = -121.971666; captureRadius = 10; duration = 50; initialDepth = 53.844946; finalDepth = 53.990204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.990204 # Seafloor depth:-93.990204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 93.844946 meters looking forward 0.000000 meters along route # Maximum depth: 93.844946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.844946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809255; longitude = -121.971141; captureRadius = 10; duration = 50; initialDepth = 54.086232; finalDepth = 53.844946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.844946 # Seafloor depth:-93.844946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.086232 meters looking forward 0.000000 meters along route # Maximum depth: 94.086232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.086232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809025; longitude = -121.970657; captureRadius = 10; duration = 50; initialDepth = 54.035825; finalDepth = 54.086232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.086232 # Seafloor depth:-94.086232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.035825 meters looking forward 0.000000 meters along route # Maximum depth: 94.035825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.035825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808784; longitude = -121.970153; captureRadius = 10; duration = 50; initialDepth = 53.716899; finalDepth = 54.035825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.035825 # Seafloor depth:-94.035825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 93.716899 meters looking forward 0.000000 meters along route # Maximum depth: 93.716899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.716899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808534; longitude = -121.969629; captureRadius = 10; duration = 50; initialDepth = 52.216548; finalDepth = 53.716899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.716899 # Seafloor depth:-93.716899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 92.216548 meters looking forward 0.000000 meters along route # Maximum depth: 92.216548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.216548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808303; longitude = -121.969144; captureRadius = 10; duration = 50; initialDepth = 53.020975; finalDepth = 52.216548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.216548 # Seafloor depth:-92.216548 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 6 # Segment length 50.380846 meters # Minimum depth: 93.020975 meters looking forward 0.000000 meters along route # Maximum depth: 93.020975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.020975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808054; longitude = -121.968621; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 53.221034; finalDepth = 53.020975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.020975 # Seafloor depth:-93.020975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 93.221034 meters looking forward 0.000000 meters along route # Maximum depth: 93.221034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.221034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808367; longitude = -121.968359; captureRadius = 10; duration = 50; initialDepth = 53.586270; finalDepth = 53.221034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.221034 # Seafloor depth:-93.221034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 93.586270 meters looking forward 0.000000 meters along route # Maximum depth: 93.586270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.586270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808770; longitude = -121.968023; captureRadius = 10; duration = 50; initialDepth = 52.714716; finalDepth = 53.586270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.58627 # Seafloor depth:-93.586270 # behavior reson { duration = 6; 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 5 # Segment length 50.380846 meters # Minimum depth: 92.714716 meters looking forward 0.000000 meters along route # Maximum depth: 92.714716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.714716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809150; longitude = -121.967706; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 52.465665; finalDepth = 52.714716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.714716 # Seafloor depth:-92.714716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 92.465665 meters looking forward 0.000000 meters along route # Maximum depth: 92.465665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.465665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809168; longitude = -121.967743; captureRadius = 10; duration = 50; initialDepth = 52.933354; finalDepth = 52.465665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.465665 # Seafloor depth:-92.465665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 92.933354 meters looking forward 0.000000 meters along route # Maximum depth: 92.933354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.933354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809410; longitude = -121.968247; captureRadius = 10; duration = 50; initialDepth = 52.931537; finalDepth = 52.933354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.933354 # Seafloor depth:-92.933354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 92.931537 meters looking forward 0.000000 meters along route # Maximum depth: 92.931537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.931537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809661; longitude = -121.968770; captureRadius = 10; duration = 50; initialDepth = 52.713852; finalDepth = 52.931537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.931537 # Seafloor depth:-92.931537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 92.713852 meters looking forward 0.000000 meters along route # Maximum depth: 92.713852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.713852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809894; longitude = -121.969256; captureRadius = 10; duration = 50; initialDepth = 53.100579; finalDepth = 52.713852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.713852 # Seafloor depth:-92.713852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 93.100579 meters looking forward 0.000000 meters along route # Maximum depth: 93.100579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.100579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810136; longitude = -121.969761; captureRadius = 10; duration = 50; initialDepth = 53.432064; finalDepth = 53.100579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.100579 # Seafloor depth:-93.100579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 93.432064 meters looking forward 0.000000 meters along route # Maximum depth: 93.432064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.432064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810382; longitude = -121.970273; captureRadius = 10; duration = 50; initialDepth = 53.180403; finalDepth = 53.432064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.432064 # Seafloor depth:-93.432064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 93.180403 meters looking forward 0.000000 meters along route # Maximum depth: 93.180403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.180403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810620; longitude = -121.970769; captureRadius = 10; duration = 50; initialDepth = 52.361385; finalDepth = 53.180403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.180403 # Seafloor depth:-93.180403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 92.361385 meters looking forward 0.000000 meters along route # Maximum depth: 92.361385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.361385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810862; longitude = -121.971274; captureRadius = 10; duration = 50; initialDepth = 52.646536; finalDepth = 52.361385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.361385 # Seafloor depth:-92.361385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 92.646536 meters looking forward 0.000000 meters along route # Maximum depth: 92.646536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.646536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811104; longitude = -121.971778; captureRadius = 10; duration = 50; initialDepth = 53.286431; finalDepth = 52.646536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.646536 # Seafloor depth:-92.646536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 93.286431 meters looking forward 0.000000 meters along route # Maximum depth: 93.286431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.286431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811346; longitude = -121.972283; captureRadius = 10; duration = 50; initialDepth = 53.230749; finalDepth = 53.286431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.286431 # Seafloor depth:-93.286431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 93.230749 meters looking forward 0.000000 meters along route # Maximum depth: 93.230749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.230749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811598; longitude = -121.972808; captureRadius = 10; duration = 50; initialDepth = 54.695896; finalDepth = 53.230749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.230749 # Seafloor depth:-93.230749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.695896 meters looking forward 0.000000 meters along route # Maximum depth: 94.695896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.695896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811831; longitude = -121.973291; captureRadius = 10; duration = 50; initialDepth = 54.038592; finalDepth = 54.695896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.695896 # Seafloor depth:-94.695896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.038592 meters looking forward 0.000000 meters along route # Maximum depth: 94.038592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.038592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812073; longitude = -121.973796; captureRadius = 10; duration = 50; initialDepth = 54.158233; finalDepth = 54.038592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.038592 # Seafloor depth:-94.038592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 94.158233 meters looking forward 0.000000 meters along route # Maximum depth: 94.158233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.158233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812319; longitude = -121.974310; captureRadius = 10; duration = 50; initialDepth = 55.455301; finalDepth = 54.158233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.158233 # Seafloor depth:-94.158233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.455301 meters looking forward 0.000000 meters along route # Maximum depth: 95.455301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.455301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812557; longitude = -121.974805; captureRadius = 10; duration = 50; initialDepth = 59.882020; finalDepth = 55.455301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.455301 # Seafloor depth:-95.455301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 99.882020 meters looking forward 0.000000 meters along route # Maximum depth: 99.882020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.882020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812799; longitude = -121.975309; captureRadius = 10; duration = 50; initialDepth = 64.458133; finalDepth = 59.882020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.88202 # Seafloor depth:-99.882020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 104.458133 meters looking forward 0.000000 meters along route # Maximum depth: 104.458133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.458133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813041; longitude = -121.975813; captureRadius = 10; duration = 50; initialDepth = 71.728898; finalDepth = 64.458133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.458133 # Seafloor depth:-104.458133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 111.728898 meters looking forward 0.000000 meters along route # Maximum depth: 111.728898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.728898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813283; longitude = -121.976318; captureRadius = 10; duration = 50; initialDepth = 84.127404; finalDepth = 71.728898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:71.728898 # Seafloor depth:-111.728898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 124.127404 meters looking forward 0.000000 meters along route # Maximum depth: 124.127404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.127404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813525; longitude = -121.976822; captureRadius = 10; duration = 50; initialDepth = 94.408869; finalDepth = 84.127404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:84.127404 # Seafloor depth:-124.127404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 134.408869 meters looking forward 0.000000 meters along route # Maximum depth: 134.408869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.408869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813767; longitude = -121.977327; captureRadius = 10; duration = 50; initialDepth = 109.614035; finalDepth = 94.408869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:94.408869 # Seafloor depth:-134.408869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 149.614035 meters looking forward 0.000000 meters along route # Maximum depth: 149.614035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.614035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814009; longitude = -121.977831; captureRadius = 10; duration = 50; initialDepth = 120.970282; finalDepth = 109.614035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:109.614035 # Seafloor depth:-149.614035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 160.970282 meters looking forward 0.000000 meters along route # Maximum depth: 160.970282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.970282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814257; longitude = -121.978348; captureRadius = 10; duration = 50; initialDepth = 128.696286; finalDepth = 120.970282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:120.970282 # Seafloor depth:-160.970282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 168.696286 meters looking forward 0.000000 meters along route # Maximum depth: 168.696286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 128.696286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814493; longitude = -121.978840; captureRadius = 10; duration = 50; initialDepth = 133.104070; finalDepth = 128.696286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:128.696286 # Seafloor depth:-168.696286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 173.104070 meters looking forward 0.000000 meters along route # Maximum depth: 173.104070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.104070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814735; longitude = -121.979344; captureRadius = 10; duration = 50; initialDepth = 142.433328; finalDepth = 133.104070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:133.10407 # Seafloor depth:-173.104070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 182.433328 meters looking forward 0.000000 meters along route # Maximum depth: 182.433328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.433328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814978; longitude = -121.979850; captureRadius = 10; duration = 50; initialDepth = 153.801477; finalDepth = 142.433328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:142.433328 # Seafloor depth:-182.433328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 193.801477 meters looking forward 0.000000 meters along route # Maximum depth: 193.801477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.801477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815220; longitude = -121.980353; captureRadius = 10; duration = 50; initialDepth = 168.978321; finalDepth = 153.801477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:153.801477 # Seafloor depth:-193.801477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 208.978321 meters looking forward 0.000000 meters along route # Maximum depth: 208.978321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.978321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815462; longitude = -121.980857; captureRadius = 10; duration = 50; initialDepth = 186.550783; finalDepth = 168.978321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:168.978321 # Seafloor depth:-208.978321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 226.550783 meters looking forward 0.000000 meters along route # Maximum depth: 226.550783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.550783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815704; longitude = -121.981362; captureRadius = 10; duration = 50; initialDepth = 205.478475; finalDepth = 186.550783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:186.550783 # Seafloor depth:-226.550783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 245.478475 meters looking forward 0.000000 meters along route # Maximum depth: 245.478475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 205.478475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815946; longitude = -121.981866; captureRadius = 10; duration = 50; initialDepth = 225.781391; finalDepth = 205.478475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:205.478475 # Seafloor depth:-245.478475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 265.781391 meters looking forward 0.000000 meters along route # Maximum depth: 265.781391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.781391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816195; longitude = -121.982385; captureRadius = 10; duration = 50; initialDepth = 243.321175; finalDepth = 225.781391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:225.781391 # Seafloor depth:-265.781391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 283.321175 meters looking forward 0.000000 meters along route # Maximum depth: 283.321175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 243.321175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816430; longitude = -121.982875; captureRadius = 10; duration = 50; initialDepth = 265.877755; finalDepth = 243.321175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:243.321175 # Seafloor depth:-283.321175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 305.877755 meters looking forward 0.000000 meters along route # Maximum depth: 305.877755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.877755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816672; longitude = -121.983379; captureRadius = 10; duration = 50; initialDepth = 289.058309; finalDepth = 265.877755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:265.877755 # Seafloor depth:-305.877755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 329.058309 meters looking forward 0.000000 meters along route # Maximum depth: 329.058309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.058309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816916; longitude = -121.983888; captureRadius = 10; duration = 50; initialDepth = 311.751593; finalDepth = 289.058309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:289.058309 # Seafloor depth:-329.058309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 351.751593 meters looking forward 0.000000 meters along route # Maximum depth: 351.751593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.751593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817156; longitude = -121.984388; captureRadius = 10; duration = 50; initialDepth = 329.833860; finalDepth = 311.751593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:311.751593 # Seafloor depth:-351.751593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 369.833860 meters looking forward 0.000000 meters along route # Maximum depth: 369.833860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.833860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817398; longitude = -121.984893; captureRadius = 10; duration = 50; initialDepth = 349.325395; finalDepth = 329.833860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:329.83386 # Seafloor depth:-369.833860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 389.325395 meters looking forward 0.000000 meters along route # Maximum depth: 389.325395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.325395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817640; longitude = -121.985397; captureRadius = 10; duration = 50; initialDepth = 369.460304; finalDepth = 349.325395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:349.325395 # Seafloor depth:-389.325395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 409.460304 meters looking forward 0.000000 meters along route # Maximum depth: 409.460304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.460304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817882; longitude = -121.985901; captureRadius = 10; duration = 50; initialDepth = 391.187246; finalDepth = 369.460304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:369.460304 # Seafloor depth:-409.460304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 431.187246 meters looking forward 0.000000 meters along route # Maximum depth: 431.187246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.187246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818132; longitude = -121.986423; captureRadius = 10; duration = 50; initialDepth = 410.936109; finalDepth = 391.187246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:391.187246 # Seafloor depth:-431.187246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 450.936109 meters looking forward 0.000000 meters along route # Maximum depth: 450.936109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.936109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818366; longitude = -121.986910; captureRadius = 10; duration = 50; initialDepth = 431.151716; finalDepth = 410.936109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.936109 # Seafloor depth:-450.936109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 471.151716 meters looking forward 0.000000 meters along route # Maximum depth: 471.151716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.151716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818608; longitude = -121.987415; captureRadius = 10; duration = 50; initialDepth = 445.977166; finalDepth = 431.151716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.151716 # Seafloor depth:-471.151716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 485.977166 meters looking forward 0.000000 meters along route # Maximum depth: 485.977166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.977166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818853; longitude = -121.987925; captureRadius = 10; duration = 50; initialDepth = 452.984403; finalDepth = 445.977166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.977166 # Seafloor depth:-485.977166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 492.984403 meters looking forward 0.000000 meters along route # Maximum depth: 492.984403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.984403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819093; longitude = -121.988423; captureRadius = 10; duration = 50; initialDepth = 457.966596; finalDepth = 452.984403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.984403 # Seafloor depth:-492.984403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 497.966596 meters looking forward 0.000000 meters along route # Maximum depth: 497.966596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.966596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819335; longitude = -121.988928; captureRadius = 10; duration = 50; initialDepth = 462.752348; finalDepth = 457.966596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.966596 # Seafloor depth:-497.966596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 502.752348 meters looking forward 0.000000 meters along route # Maximum depth: 502.752348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.752348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819577; longitude = -121.989432; captureRadius = 10; duration = 50; initialDepth = 468.820424; finalDepth = 462.752348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.752348 # Seafloor depth:-502.752348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 508.820424 meters looking forward 0.000000 meters along route # Maximum depth: 508.820424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.820424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819819; longitude = -121.989937; captureRadius = 10; duration = 50; initialDepth = 470.722091; finalDepth = 468.820424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.820424 # Seafloor depth:-508.820424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 510.722091 meters looking forward 0.000000 meters along route # Maximum depth: 510.722091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.722091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820070; longitude = -121.990460; captureRadius = 10; duration = 50; initialDepth = 473.118444; finalDepth = 470.722091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.722091 # Seafloor depth:-510.722091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 513.118444 meters looking forward 0.000000 meters along route # Maximum depth: 513.118444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.118444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820303; longitude = -121.990945; captureRadius = 10; duration = 50; initialDepth = 473.110977; finalDepth = 473.118444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.118444 # Seafloor depth:-513.118444 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 meters # Minimum depth: 513.110977 meters looking forward 0.000000 meters along route # Maximum depth: 513.110977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.110977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820536; longitude = -121.991431; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 468.426091; finalDepth = 473.110977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.110977 # Seafloor depth:-513.110977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 508.426091 meters looking forward 0.000000 meters along route # Maximum depth: 508.426091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.426091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820721; longitude = -121.991786; captureRadius = 10; duration = 50; initialDepth = 442.941301; finalDepth = 468.426091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.426091 # Seafloor depth:-508.426091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 482.941301 meters looking forward 0.000000 meters along route # Maximum depth: 482.941301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.941301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820984; longitude = -121.992291; captureRadius = 10; duration = 50; initialDepth = 410.895082; finalDepth = 442.941301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.941301 # Seafloor depth:-482.941301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 450.895082 meters looking forward 0.000000 meters along route # Maximum depth: 450.895082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.895082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821246; longitude = -121.992795; captureRadius = 10; duration = 50; initialDepth = 396.929887; finalDepth = 410.895082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.895082 # Seafloor depth:-450.895082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 436.929887 meters looking forward 0.000000 meters along route # Maximum depth: 436.929887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.929887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821512; longitude = -121.993305; captureRadius = 10; duration = 50; initialDepth = 400.215849; finalDepth = 396.929887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.929887 # Seafloor depth:-436.929887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 440.215849 meters looking forward 0.000000 meters along route # Maximum depth: 440.215849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.215849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821782; longitude = -121.993824; captureRadius = 10; duration = 50; initialDepth = 395.638631; finalDepth = 400.215849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:400.215849 # Seafloor depth:-440.215849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 435.638631 meters looking forward 0.000000 meters along route # Maximum depth: 435.638631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.638631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822035; longitude = -121.994308; captureRadius = 10; duration = 50; initialDepth = 370.145903; finalDepth = 395.638631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.638631 # Seafloor depth:-435.638631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 410.145903 meters looking forward 0.000000 meters along route # Maximum depth: 410.145903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.145903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822297; longitude = -121.994813; captureRadius = 10; duration = 50; initialDepth = 346.231643; finalDepth = 370.145903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:370.145903 # Seafloor depth:-410.145903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 386.231643 meters looking forward 0.000000 meters along route # Maximum depth: 386.231643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 346.231643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822548; longitude = -121.995294; captureRadius = 10; duration = 50; initialDepth = 325.786447; finalDepth = 346.231643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:346.231643 # Seafloor depth:-386.231643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 365.786447 meters looking forward 0.000000 meters along route # Maximum depth: 365.786447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 325.786447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822794; longitude = -121.995765; captureRadius = 10; duration = 50; initialDepth = 303.333632; finalDepth = 325.786447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:325.786447 # Seafloor depth:-365.786447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 343.333632 meters looking forward 0.000000 meters along route # Maximum depth: 343.333632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 303.333632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823044; longitude = -121.996246; captureRadius = 10; duration = 50; initialDepth = 280.444397; finalDepth = 303.333632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:303.333632 # Seafloor depth:-343.333632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 320.444397 meters looking forward 0.000000 meters along route # Maximum depth: 320.444397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.444397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823290; longitude = -121.996718; captureRadius = 10; duration = 50; initialDepth = 267.110576; finalDepth = 280.444397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:280.444397 # Seafloor depth:-320.444397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 307.110576 meters looking forward 0.000000 meters along route # Maximum depth: 307.110576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 267.110576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823540; longitude = -121.997197; captureRadius = 10; duration = 50; initialDepth = 235.317024; finalDepth = 267.110576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:267.110576 # Seafloor depth:-307.110576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 275.317024 meters looking forward 0.000000 meters along route # Maximum depth: 275.317024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.317024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823786; longitude = -121.997671; captureRadius = 10; duration = 50; initialDepth = 201.960355; finalDepth = 235.317024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:235.317024 # Seafloor depth:-275.317024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 241.960355 meters looking forward 0.000000 meters along route # Maximum depth: 241.960355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.960355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824036; longitude = -121.998149; captureRadius = 10; duration = 50; initialDepth = 183.146606; finalDepth = 201.960355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:201.960355 # Seafloor depth:-241.960355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 223.146606 meters looking forward 0.000000 meters along route # Maximum depth: 223.146606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 183.146606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824283; longitude = -121.998624; captureRadius = 10; duration = 50; initialDepth = 163.206234; finalDepth = 183.146606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:183.146606 # Seafloor depth:-223.146606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 203.206234 meters looking forward 0.000000 meters along route # Maximum depth: 203.206234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.206234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824531; longitude = -121.999101; captureRadius = 10; duration = 50; initialDepth = 159.324353; finalDepth = 163.206234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:163.206234 # Seafloor depth:-203.206234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 199.324353 meters looking forward 0.000000 meters along route # Maximum depth: 199.324353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.324353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824779; longitude = -121.999576; captureRadius = 10; duration = 50; initialDepth = 128.947232; finalDepth = 159.324353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:159.324353 # Seafloor depth:-199.324353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 168.947232 meters looking forward 0.000000 meters along route # Maximum depth: 168.947232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 128.947232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825027; longitude = -122.000052; captureRadius = 10; duration = 50; initialDepth = 91.747900; finalDepth = 128.947232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:128.947232 # Seafloor depth:-168.947232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 131.747900 meters looking forward 0.000000 meters along route # Maximum depth: 131.747900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.747900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825275; longitude = -122.000529; captureRadius = 10; duration = 50; initialDepth = 74.133655; finalDepth = 91.747900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:91.7479 # Seafloor depth:-131.747900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 114.133655 meters looking forward 0.000000 meters along route # Maximum depth: 114.133655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.133655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825523; longitude = -122.001004; captureRadius = 10; duration = 50; initialDepth = 57.526411; finalDepth = 74.133655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:74.133655 # Seafloor depth:-114.133655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 97.526411 meters looking forward 0.000000 meters along route # Maximum depth: 97.526411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.526411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825772; longitude = -122.001482; captureRadius = 10; duration = 50; initialDepth = 55.282962; finalDepth = 57.526411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.526411 # Seafloor depth:-97.526411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.282962 meters looking forward 0.000000 meters along route # Maximum depth: 95.282962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.282962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826018; longitude = -122.001955; captureRadius = 10; duration = 50; initialDepth = 55.698232; finalDepth = 55.282962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.282962 # Seafloor depth:-95.282962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.698232 meters looking forward 0.000000 meters along route # Maximum depth: 95.698232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.698232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826268; longitude = -122.002435; captureRadius = 10; duration = 50; initialDepth = 56.523514; finalDepth = 55.698232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.698232 # Seafloor depth:-95.698232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.523514 meters looking forward 0.000000 meters along route # Maximum depth: 96.523514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.523514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826514; longitude = -122.002907; captureRadius = 10; duration = 50; initialDepth = 56.065356; finalDepth = 56.523514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.523514 # Seafloor depth:-96.523514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 96.065356 meters looking forward 0.000000 meters along route # Maximum depth: 96.065356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.065356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826764; longitude = -122.003387; captureRadius = 10; duration = 50; initialDepth = 55.403804; finalDepth = 56.065356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.065356 # Seafloor depth:-96.065356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.403804 meters looking forward 0.000000 meters along route # Maximum depth: 95.403804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.403804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827027; longitude = -122.003892; captureRadius = 10; duration = 50; initialDepth = 55.140592; finalDepth = 55.403804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.403804 # Seafloor depth:-95.403804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 95.140592 meters looking forward 0.000000 meters along route # Maximum depth: 95.140592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.140592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827290; longitude = -122.004396; captureRadius = 10; duration = 50; initialDepth = 53.446378; finalDepth = 55.140592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.140592 # Seafloor depth:-95.140592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 93.446378 meters looking forward 0.000000 meters along route # Maximum depth: 93.446378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.446378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827553; longitude = -122.004901; captureRadius = 10; duration = 50; initialDepth = 52.632159; finalDepth = 53.446378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.446378 # Seafloor depth:-93.446378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 92.632159 meters looking forward 0.000000 meters along route # Maximum depth: 92.632159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.632159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827821; longitude = -122.005415; captureRadius = 10; duration = 50; initialDepth = 52.430019; finalDepth = 52.632159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.632159 # Seafloor depth:-92.632159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 92.430019 meters looking forward 0.000000 meters along route # Maximum depth: 92.430019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.430019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828078; longitude = -122.005909; captureRadius = 10; duration = 50; initialDepth = 52.745506; finalDepth = 52.430019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.430019 # Seafloor depth:-92.430019 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 3 # Segment length 50.380846 meters # Minimum depth: 92.745506 meters looking forward 0.000000 meters along route # Maximum depth: 92.745506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.745506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828331; longitude = -122.006395; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 52.200276; finalDepth = 52.745506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.745506 # Seafloor depth:-92.745506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 92.200276 meters looking forward 0.000000 meters along route # Maximum depth: 92.200276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.200276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828587; longitude = -122.006209; captureRadius = 10; duration = 50; initialDepth = 52.058629; finalDepth = 52.200276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.200276 # Seafloor depth:-92.200276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 meters # Minimum depth: 92.058629 meters looking forward 0.000000 meters along route # Maximum depth: 92.058629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.058629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829000; longitude = -122.005909; captureRadius = 10; duration = 50; initialDepth = 51.937689; finalDepth = 52.058629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.058629 # Seafloor depth:-92.058629 # behavior reson { duration = 6; 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 2 # Segment length 50.380846 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: 532.129647 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 = 50; # abortOnTimeout = True; initialDepth = 51.702860; finalDepth = 51.937689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.937689 # Seafloor depth:-91.937689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 52.263180; finalDepth = 51.702860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.70286 # Seafloor depth:-91.702860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 53.382908; finalDepth = 52.263180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.26318 # Seafloor depth:-92.263180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 53.998709; finalDepth = 53.382908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.382908 # Seafloor depth:-93.382908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 54.882817; finalDepth = 53.998709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.998709 # Seafloor depth:-93.998709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 55.539147; finalDepth = 54.882817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.882817 # Seafloor depth:-94.882817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 56.051908; finalDepth = 55.539147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.539147 # Seafloor depth:-95.539147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 55.623043; finalDepth = 56.051908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.051908 # Seafloor depth:-96.051908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 66.738646; finalDepth = 55.623043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.623043 # Seafloor depth:-95.623043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 85.018835; finalDepth = 66.738646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.738646 # Seafloor depth:-106.738646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 109.196184; finalDepth = 85.018835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:85.018835 # Seafloor depth:-125.018835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 128.360559; finalDepth = 109.196184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:109.196184 # Seafloor depth:-149.196184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 145.862831; finalDepth = 128.360559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:128.360559 # Seafloor depth:-168.360559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 170.993032; finalDepth = 145.862831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:145.862831 # Seafloor depth:-185.862831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 197.926889; finalDepth = 170.993032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:170.993032 # Seafloor depth:-210.993032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.926889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825703; longitude = -121.998452; captureRadius = 10; duration = 50; initialDepth = 225.603159; finalDepth = 197.926889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6832105000001 # Actual altitude: 50 # Commanded vehicle depth:197.9268895 # Seafloor depth:-247.610100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.603159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825432; longitude = -121.997931; captureRadius = 10; duration = 50; initialDepth = 243.924662; finalDepth = 225.603159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6832105000001 # Actual altitude: 50 # Commanded vehicle depth:225.6031595 # Seafloor depth:-268.257209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 248.732635; finalDepth = 243.924662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.6540495000001 # Actual altitude: 50 # Commanded vehicle depth:243.924662 # Seafloor depth:-283.924662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 257.525812; finalDepth = 248.732635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:248.732635 # Seafloor depth:-288.732635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 254.956396; finalDepth = 257.525812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:257.525812 # Seafloor depth:-297.525812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 269.668832; finalDepth = 254.956396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:254.956396 # Seafloor depth:-294.956396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 271.843739; finalDepth = 269.668832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:269.668832 # Seafloor depth:-309.668832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 296.856154; finalDepth = 271.843739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:271.843739 # Seafloor depth:-311.843739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.856154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823630; longitude = -121.994453; captureRadius = 10; duration = 50; initialDepth = 322.397639; finalDepth = 296.856154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3940845 # Actual altitude: 50 # Commanded vehicle depth:296.8561535 # Seafloor depth:-342.250238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 349.161565; finalDepth = 322.397639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2038190000001 # Actual altitude: 50.2038190000001 # Commanded vehicle depth:322.397639 # Seafloor depth:-372.601458 # behavior reson { duration = 6; 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 2 # Segment length 50.380846 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: 532.129647 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 = 50; initialDepth = 375.925557; finalDepth = 349.161565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.791145 # Actual altitude: 52.791145 # Commanded vehicle depth:349.161565 # Seafloor depth:-401.952710 # behavior reson { duration = 6; 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 2 # Segment length 50.380846 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: 532.129647 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 = 50; initialDepth = 402.951003; finalDepth = 375.925557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.791145 # Actual altitude: 52.791145 # Commanded vehicle depth:375.9255575 # Seafloor depth:-425.793491 # behavior reson { duration = 6; 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 2 # Segment length 50.380846 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: 532.129647 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 = 50; initialDepth = 430.628092; finalDepth = 402.951003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8679335000002 # Actual altitude: 50 # Commanded vehicle depth:402.951003 # Seafloor depth:-452.446321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 449.988915; finalDepth = 430.628092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.495318 # Actual altitude: 50 # Commanded vehicle depth:430.6280925 # Seafloor depth:-478.081969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 456.411005; finalDepth = 449.988915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4538765 # Actual altitude: 50 # Commanded vehicle depth:449.988915 # Seafloor depth:-489.988915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 458.639297; finalDepth = 456.411005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.411005 # Seafloor depth:-496.411005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 459.905765; finalDepth = 458.639297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.639297 # Seafloor depth:-498.639297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 457.791130; finalDepth = 459.905765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:459.905765 # Seafloor depth:-499.905765 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.380846 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: 532.129647 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 = 50; # abortOnTimeout = True; initialDepth = 457.471064; finalDepth = 457.791130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.79113 # Seafloor depth:-497.791130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 453.210445; finalDepth = 457.471064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.471064 # Seafloor depth:-497.471064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 449.582394; finalDepth = 453.210445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.210445 # Seafloor depth:-493.210445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 445.185431; finalDepth = 449.582394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:449.582394 # Seafloor depth:-489.582394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 438.307693; finalDepth = 445.185431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.185431 # Seafloor depth:-485.185431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 422.716740; finalDepth = 438.307693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:438.307693 # Seafloor depth:-478.307693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 401.180449; finalDepth = 422.716740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:422.71674 # Seafloor depth:-462.716740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 378.690546; finalDepth = 401.180449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:401.180449 # Seafloor depth:-441.180449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 358.216027; finalDepth = 378.690546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:378.690546 # Seafloor depth:-418.690546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 340.790359; finalDepth = 358.216027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:358.216027 # Seafloor depth:-398.216027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 324.149700; finalDepth = 340.790359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:340.790359 # Seafloor depth:-380.790359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 307.472696; finalDepth = 324.149700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:324.1497 # Seafloor depth:-364.149700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 287.633280; finalDepth = 307.472696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:307.472696 # Seafloor depth:-347.472696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 265.834161; finalDepth = 287.633280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:287.63328 # Seafloor depth:-327.633280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 245.222167; finalDepth = 265.834161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:265.834161 # Seafloor depth:-305.834161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 229.480025; finalDepth = 245.222167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:245.222167 # Seafloor depth:-285.222167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 211.374249; finalDepth = 229.480025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:229.480025 # Seafloor depth:-269.480025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 189.244907; finalDepth = 211.374249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:211.374249 # Seafloor depth:-251.374249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 166.826046; finalDepth = 189.244907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:189.244907 # Seafloor depth:-229.244907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 150.508465; finalDepth = 166.826046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:166.826046 # Seafloor depth:-206.826046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 136.408119; finalDepth = 150.508465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:150.508465 # Seafloor depth:-190.508465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 125.445964; finalDepth = 136.408119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:136.408119 # Seafloor depth:-176.408119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 116.390636; finalDepth = 125.445964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:125.445964 # Seafloor depth:-165.445964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 103.924619; finalDepth = 116.390636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:116.390636 # Seafloor depth:-156.390636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 87.491497; finalDepth = 103.924619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:103.924619 # Seafloor depth:-143.924619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 71.760311; finalDepth = 87.491497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:87.491497 # Seafloor depth:-127.491497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 60.222812; finalDepth = 71.760311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:71.760311 # Seafloor depth:-111.760311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 57.633741; finalDepth = 60.222812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.222812 # Seafloor depth:-100.222812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 56.729621; finalDepth = 57.633741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.633741 # Seafloor depth:-97.633741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 55.672321; finalDepth = 56.729621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.729621 # Seafloor depth:-96.729621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 54.629076; finalDepth = 55.672321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.672321 # Seafloor depth:-95.672321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 53.895546; finalDepth = 54.629076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.629076 # Seafloor depth:-94.629076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 53.598210; finalDepth = 53.895546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.895546 # Seafloor depth:-93.895546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 53.616014; finalDepth = 53.598210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.59821 # Seafloor depth:-93.598210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 53.222611; finalDepth = 53.616014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.616014 # Seafloor depth:-93.616014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 52.256079; finalDepth = 53.222611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.222611 # Seafloor depth:-93.222611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 52.101725; finalDepth = 52.256079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.256079 # Seafloor depth:-92.256079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 52.081804; finalDepth = 52.101725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.101725 # Seafloor depth:-92.101725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 51.946473; finalDepth = 52.081804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.081804 # Seafloor depth:-92.081804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 52.768215; finalDepth = 51.946473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.946473 # Seafloor depth:-91.946473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 52.593032; finalDepth = 52.768215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.768215 # Seafloor depth:-92.768215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 52.553219; finalDepth = 52.593032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.593032 # Seafloor depth:-92.593032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 52.358856; finalDepth = 52.553219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.553219 # Seafloor depth:-92.553219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 52.580085; finalDepth = 52.358856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.358856 # Seafloor depth:-92.358856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 52.319107; finalDepth = 52.580085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.580085 # Seafloor depth:-92.580085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.380846 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: 532.129647 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 = 50; initialDepth = 53.563955; finalDepth = 52.319107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.319107 # Seafloor depth:-92.319107 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 40 # Sonar parameter altitude: 50 # Commanded vehicle depth:53.563955 # Seafloor depth:-93.563955 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; 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 50.380846 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: 532.129647 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 = 600; initialDepth = 53.563955; finalDepth = 53.563955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # 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 = 45.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 45.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 2; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 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; } # ####################################################### #######################################################