# 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_4v3.rte # Mission File: SoquelCanyon_4v3.cfg # Distance: 33248.126758 (m) # Estimated Time: 24270 (s) 6.742 (hr) # Abort Time: 31552 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 386 (s) # Way Points: 63 # Route Points: 462 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 453.423396 (m) # Abort Vehicle Depth: 478.423396 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 75 (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 -121.975664 36.817306 -99.588524 0.000000 3 # 1 -121.983959 36.822714 -468.544037 952.558991 3 # 2 -121.990516 36.823164 -477.806023 1539.510837 4 # 3 -121.990740 36.823840 -456.784409 1617.122465 3 # 4 -121.987826 36.826048 -435.593620 1974.263926 1 # 5 -121.985827 36.826935 -413.759903 2177.902923 1 # 6 -121.984594 36.828782 -341.161453 2410.453694 1 # 7 -121.981231 36.828512 -324.067245 2711.872801 1 # 8 -121.979550 36.829413 -348.734558 2892.059249 1 # 9 -121.977140 36.829458 -382.866241 3107.049544 3 # 10 -121.961279 36.824952 -91.425165 4607.366136 3 # 11 -121.973478 36.817396 -96.659285 5980.901050 3 # 12 -121.980652 36.822173 -448.785919 6811.752966 1 # 13 -121.988947 36.826679 -411.212402 7704.636800 4 # 14 -121.986256 36.827625 -380.720436 7966.580257 3 # 15 -121.983193 36.827295 -346.609100 8242.198436 1 # 16 -121.980615 36.826394 -337.201042 8492.909604 1 # 17 -121.978037 36.827791 -380.339844 8770.190238 1 # 18 -121.975720 36.830059 -387.522408 9095.782237 3 # 19 -121.962101 36.826229 -99.341148 10382.573148 3 # 20 -121.973385 36.818778 -98.471142 11684.967364 3 # 21 -121.985023 36.826454 -423.620049 13027.599806 4 # 22 -121.985360 36.828211 -370.603691 13224.827077 3 # 23 -121.982632 36.828061 -339.731110 13468.692059 1 # 24 -121.980932 36.827355 -312.364143 13639.343577 1 # 25 -121.978410 36.828752 -382.516716 13912.494755 1 # 26 -121.977738 36.829879 -365.047615 14051.147270 1 # 27 -121.974113 36.830539 -386.959236 14382.622754 3 # 28 -121.962680 36.827430 -119.639975 15459.024508 3 # 29 -121.973590 36.819965 -135.333164 16736.811319 4 # 30 -121.974767 36.820596 -188.178810 16862.992528 3 # 31 -121.967313 36.825868 -151.005352 17748.478710 4 # 32 -121.968939 36.826364 -190.365532 17903.586678 3 # 33 -121.975608 36.821317 -239.136143 18720.477012 4 # 34 -121.976617 36.822038 -333.963844 18840.881940 3 # 35 -121.970639 36.826799 -239.515282 19591.389727 4 # 36 -121.972152 36.827250 -286.570396 19735.306467 3 # 37 -121.977812 36.822969 -416.612259 20428.414560 3 # 38 -121.980334 36.824051 -439.758430 20683.378134 1 # 39 -121.983473 36.826123 -394.531670 21045.620442 1 # 40 -121.985490 36.828917 -328.867226 21404.006799 1 # 41 -121.987433 36.829563 -271.499153 21591.526324 1 # 42 -121.991319 36.835001 -95.523191 22287.276482 3 # 43 -122.000791 36.829864 -95.106337 23306.259686 3 # 44 -121.989582 36.823780 -470.622177 24512.475110 4 # 45 -121.988797 36.825943 -429.930054 24762.445716 3 # 46 -121.986200 36.828617 -336.535721 25138.811260 3 # 47 -121.987452 36.830494 -225.883118 25375.094759 1 # 48 -121.992328 36.833514 -97.030027 25924.041197 3 # 49 -121.998698 36.830014 -95.895020 26612.145031 3 # 50 -121.988554 36.824516 -460.803146 27703.257673 1 # 51 -121.982670 36.824246 -438.135925 28228.901533 3 # 52 -121.991076 36.832988 -99.021746 29454.719835 3 # 53 -121.996587 36.830134 -99.562819 30039.356469 3 # 54 -121.988218 36.825553 -443.702057 30942.344418 3 # 55 -121.983342 36.828482 -353.746971 31485.210908 3 # 56 -121.980390 36.824997 -380.249557 31952.970234 3 # 57 -121.979251 36.825147 -430.291084 32055.910029 1 # 58 -121.978690 36.826409 -416.922752 32204.589759 1 # 59 -121.975907 36.828376 -413.233871 32535.083570 3 # 60 -121.978933 36.829954 -353.835358 32856.763495 1 # 61 -121.981679 36.829593 -325.181602 33104.913530 1 # 62 -121.983137 36.829052 -332.474937 33248.126758 4 # # A total of 462 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 23700; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 453.423396; abortDepth = 478.423396; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 386; 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 62 # Segment length 75.082671 meters # Minimum depth: 322.027220 meters looking forward 100.000000 meters along route # Maximum depth: 332.474937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 272.027220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829052; longitude = -121.983137; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 265.846489; finalDepth = 272.027220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.447717 # Actual altitude: 60.447717 # Commanded vehicle depth:272.02722 # Seafloor depth:-332.474937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 75.082671 meters # Minimum depth: 315.846489 meters looking forward 100.000000 meters along route # Maximum depth: 326.052212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.846489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829308; longitude = -121.982448; captureRadius = 10; duration = 75; initialDepth = 265.846489; finalDepth = 265.846489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.447717 # Actual altitude: 60.447717 # Commanded vehicle depth:265.846489 # Seafloor depth:-321.429140 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 75.082671 meters # Minimum depth: 315.846489 meters looking forward 100.000000 meters along route # Maximum depth: 326.924222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.846489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829593; longitude = -121.981679; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 271.406379; finalDepth = 265.846489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.335113 # Actual altitude: 59.335113 # Commanded vehicle depth:265.846489 # Seafloor depth:-325.181602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.73; MB_Bottom_Detect_Filter_Max_Range = 237.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 75.082671 meters # Minimum depth: 324.275708 meters looking forward 100.000000 meters along route # Maximum depth: 338.889139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.406379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829620; longitude = -121.981474; captureRadius = 10; duration = 75; initialDepth = 287.619479; finalDepth = 271.406379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.335113 # Actual altitude: 59.335113 # Commanded vehicle depth:271.4063794 # Seafloor depth:-327.749690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.73; MB_Bottom_Detect_Filter_Max_Range = 237.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 75.082671 meters # Minimum depth: 337.619479 meters looking forward 100.000000 meters along route # Maximum depth: 340.738097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.619479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829730; longitude = -121.980633; captureRadius = 10; duration = 75; initialDepth = 290.250032; finalDepth = 287.619479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3433106000001 # Actual altitude: 56.3433106000001 # Commanded vehicle depth:287.619479 # Seafloor depth:-338.816932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 75.082671 meters # Minimum depth: 340.250032 meters looking forward 100.000000 meters along route # Maximum depth: 353.706178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.250032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829841; longitude = -121.979793; captureRadius = 10; duration = 75; initialDepth = 290.738097; finalDepth = 290.250032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.399974 # Actual altitude: 51.399974 # Commanded vehicle depth:290.250032 # Seafloor depth:-341.650006 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 75.082671 meters # Minimum depth: 340.738097 meters looking forward 100.000000 meters along route # Maximum depth: 356.196124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.738097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829954; longitude = -121.978933; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 294.434189; finalDepth = 290.738097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.097261 # Actual altitude: 63.097261 # Commanded vehicle depth:290.738097 # Seafloor depth:-353.835358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 252.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 75.082671 meters # Minimum depth: 351.575558 meters looking forward 100.000000 meters along route # Maximum depth: 368.363119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.434189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829894; longitude = -121.978817; captureRadius = 10; duration = 75; initialDepth = 315.532618; finalDepth = 294.434189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.097261 # Actual altitude: 63.097261 # Commanded vehicle depth:294.434189400001 # Seafloor depth:-356.764642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 252.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 75.082671 meters # Minimum depth: 365.532618 meters looking forward 100.000000 meters along route # Maximum depth: 385.482602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.532618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829525; longitude = -121.978111; captureRadius = 10; duration = 75; initialDepth = 331.628155; finalDepth = 315.532618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.3304525999994 # Actual altitude: 62.3304525999994 # Commanded vehicle depth:315.532618 # Seafloor depth:-368.639076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.93; MB_Bottom_Detect_Filter_Max_Range = 249.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 75.082671 meters # Minimum depth: 381.628155 meters looking forward 100.000000 meters along route # Maximum depth: 405.224984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.628155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829146; longitude = -121.977383; captureRadius = 10; duration = 75; initialDepth = 351.276888; finalDepth = 331.628155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.603125 # Actual altitude: 55.603125 # Commanded vehicle depth:331.628155 # Seafloor depth:-387.231280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.24; MB_Bottom_Detect_Filter_Max_Range = 222.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 75.082671 meters # Minimum depth: 401.276888 meters looking forward 100.000000 meters along route # Maximum depth: 413.353051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.276888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828766; longitude = -121.976654; captureRadius = 10; duration = 75; initialDepth = 356.611547; finalDepth = 351.276888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.603125 # Actual altitude: 55.603125 # Commanded vehicle depth:351.276888 # Seafloor depth:-405.301058 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.24; MB_Bottom_Detect_Filter_Max_Range = 222.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 75.082671 meters # Minimum depth: 406.611547 meters looking forward 100.000000 meters along route # Maximum depth: 413.825955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.611547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828376; longitude = -121.975907; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 363.083613; finalDepth = 356.611547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.622324 # Actual altitude: 56.622324 # Commanded vehicle depth:356.611547 # Seafloor depth:-413.233871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 226.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.082671 meters # Minimum depth: 413.083613 meters looking forward 100.000000 meters along route # Maximum depth: 416.274833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.083613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828226; longitude = -121.976119; captureRadius = 10; duration = 75; initialDepth = 363.385316; finalDepth = 363.083613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.622324 # Actual altitude: 56.622324 # Commanded vehicle depth:363.083613 # Seafloor depth:-413.937509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 226.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.082671 meters # Minimum depth: 413.385316 meters looking forward 100.000000 meters along route # Maximum depth: 416.274833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.385316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827776; longitude = -121.976756; captureRadius = 10; duration = 75; initialDepth = 362.916738; finalDepth = 363.385316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.622328 # Actual altitude: 52.622328 # Commanded vehicle depth:363.385316 # Seafloor depth:-416.007644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.082671 meters # Minimum depth: 412.916738 meters looking forward 100.000000 meters along route # Maximum depth: 415.153790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.916738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827325; longitude = -121.977394; captureRadius = 10; duration = 75; initialDepth = 363.993247; finalDepth = 362.916738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.622328 # Actual altitude: 52.622328 # Commanded vehicle depth:362.916738 # Seafloor depth:-413.270285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.082671 meters # Minimum depth: 413.993247 meters looking forward 100.000000 meters along route # Maximum depth: 417.042630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.993247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826858; longitude = -121.978055; captureRadius = 10; duration = 75; initialDepth = 365.699006; finalDepth = 363.993247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.053757 # Actual altitude: 51.053757 # Commanded vehicle depth:363.993247 # Seafloor depth:-415.047004 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 75.082671 meters # Minimum depth: 415.699006 meters looking forward 100.000000 meters along route # Maximum depth: 426.322355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 365.699006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826409; longitude = -121.978690; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 374.508984; finalDepth = 365.699006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.223746 # Actual altitude: 51.223746 # Commanded vehicle depth:365.699006 # Seafloor depth:-416.922752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 75.082671 meters # Minimum depth: 424.508984 meters looking forward 100.000000 meters along route # Maximum depth: 429.898959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.508984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825793; longitude = -121.978964; captureRadius = 10; duration = 75; initialDepth = 376.452091; finalDepth = 374.508984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.943107 # Actual altitude: 51.943107 # Commanded vehicle depth:374.508984 # Seafloor depth:-426.452091 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 75.082671 meters # Minimum depth: 426.452091 meters looking forward 100.000000 meters along route # Maximum depth: 430.291084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.452091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825147; longitude = -121.979251; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 330.261077; finalDepth = 376.452091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.838993 # Actual altitude: 53.838993 # Commanded vehicle depth:376.452091 # Seafloor depth:-430.291084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 75.082671 meters # Minimum depth: 380.261077 meters looking forward 100.000000 meters along route # Maximum depth: 430.094315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.261077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825113; longitude = -121.979512; captureRadius = 10; duration = 75; initialDepth = 323.254744; finalDepth = 330.261077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.394229 # Actual altitude: 96.394229 # Commanded vehicle depth:330.261077 # Seafloor depth:-426.655306 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.56; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 75.082671 meters # Minimum depth: 373.254744 meters looking forward 100.000000 meters along route # Maximum depth: 384.769792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.254744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824997; longitude = -121.980390; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 296.504486; finalDepth = 323.254744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.394229 # Actual altitude: 96.394229 # Commanded vehicle depth:323.254744 # Seafloor depth:-380.249557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.56; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 75.082671 meters # Minimum depth: 346.504486 meters looking forward 100.000000 meters along route # Maximum depth: 376.812811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.504486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825568; longitude = -121.980873; captureRadius = 10; duration = 75; initialDepth = 264.083554; finalDepth = 296.504486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.302676 # Actual altitude: 79.302676 # Commanded vehicle depth:296.504486 # Seafloor depth:-375.807162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.72; MB_Bottom_Detect_Filter_Max_Range = 317.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 75.082671 meters # Minimum depth: 314.083554 meters looking forward 100.000000 meters along route # Maximum depth: 359.777399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.083554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826153; longitude = -121.981370; captureRadius = 10; duration = 75; initialDepth = 260.365990; finalDepth = 264.083554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.225745 # Actual altitude: 81.225745 # Commanded vehicle depth:264.083554 # Seafloor depth:-345.309299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 324.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.49; MB_Bottom_Detect_Filter_Max_Range = 324.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 75.082671 meters # Minimum depth: 310.365990 meters looking forward 100.000000 meters along route # Maximum depth: 319.247889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.365990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826740; longitude = -121.981866; captureRadius = 10; duration = 75; initialDepth = 264.813424; finalDepth = 260.365990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.225745 # Actual altitude: 81.225745 # Commanded vehicle depth:260.36599 # Seafloor depth:-314.071719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 324.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.49; MB_Bottom_Detect_Filter_Max_Range = 324.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 75.082671 meters # Minimum depth: 314.813424 meters looking forward 100.000000 meters along route # Maximum depth: 340.821362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.813424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827335; longitude = -121.982371; captureRadius = 10; duration = 75; initialDepth = 287.379150; finalDepth = 264.813424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.914141 # Actual altitude: 54.914141 # Commanded vehicle depth:264.813424 # Seafloor depth:-319.727565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 75.082671 meters # Minimum depth: 337.379150 meters looking forward 100.000000 meters along route # Maximum depth: 355.275486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.379150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827911; longitude = -121.982858; captureRadius = 10; duration = 75; initialDepth = 290.759160; finalDepth = 287.379150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.354713 # Actual altitude: 56.354713 # Commanded vehicle depth:287.37915 # Seafloor depth:-343.733863 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 75.082671 meters # Minimum depth: 340.759160 meters looking forward 100.000000 meters along route # Maximum depth: 356.240773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.759160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828482; longitude = -121.983342; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 294.955710; finalDepth = 290.759160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.987811 # Actual altitude: 62.987811 # Commanded vehicle depth:290.75916 # Seafloor depth:-353.746971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 251.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 75.082671 meters # Minimum depth: 353.746971 meters looking forward 100.000000 meters along route # Maximum depth: 373.580391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.955710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828407; longitude = -121.983468; captureRadius = 10; duration = 75; initialDepth = 317.505433; finalDepth = 294.955710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.987811 # Actual altitude: 62.987811 # Commanded vehicle depth:294.9557097 # Seafloor depth:-356.973686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 251.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 75.082671 meters # Minimum depth: 369.885831 meters looking forward 100.000000 meters along route # Maximum depth: 393.179550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 317.505433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828001; longitude = -121.984143; captureRadius = 10; duration = 75; initialDepth = 337.399204; finalDepth = 317.505433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.0179763000002 # Actual altitude: 62.0179763000002 # Commanded vehicle depth:317.5054329 # Seafloor depth:-374.263511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.81; MB_Bottom_Detect_Filter_Max_Range = 248.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 75.082671 meters # Minimum depth: 387.399204 meters looking forward 100.000000 meters along route # Maximum depth: 415.371318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.399204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827595; longitude = -121.984818; captureRadius = 10; duration = 75; initialDepth = 359.949073; finalDepth = 337.399204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.397596 # Actual altitude: 57.397596 # Commanded vehicle depth:337.399204 # Seafloor depth:-394.796800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 229.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 75.082671 meters # Minimum depth: 412.630196 meters looking forward 100.000000 meters along route # Maximum depth: 415.624419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.949073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827190; longitude = -121.985493; captureRadius = 10; duration = 75; initialDepth = 362.630196; finalDepth = 359.949073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.397596 # Actual altitude: 57.397596 # Commanded vehicle depth:359.949073 # Seafloor depth:-415.617375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 229.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 75.082671 meters # Minimum depth: 412.630196 meters looking forward 100.000000 meters along route # Maximum depth: 427.120802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.630196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826784; longitude = -121.986168; captureRadius = 10; duration = 75; initialDepth = 374.025691; finalDepth = 362.630196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6683020000003 # Actual altitude: 55.6683020000003 # Commanded vehicle depth:362.630196 # Seafloor depth:-415.154668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.27; MB_Bottom_Detect_Filter_Max_Range = 222.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 75.082671 meters # Minimum depth: 424.025691 meters looking forward 100.000000 meters along route # Maximum depth: 434.911609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.025691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826379; longitude = -121.986843; captureRadius = 10; duration = 75; initialDepth = 382.975506; finalDepth = 374.025691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.210514 # Actual altitude: 54.210514 # Commanded vehicle depth:374.025691 # Seafloor depth:-428.236205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 75.082671 meters # Minimum depth: 432.975506 meters looking forward 100.000000 meters along route # Maximum depth: 444.153301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.975506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825968; longitude = -121.987527; captureRadius = 10; duration = 75; initialDepth = 385.739391; finalDepth = 382.975506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.210514 # Actual altitude: 54.210514 # Commanded vehicle depth:382.975506 # Seafloor depth:-435.018458 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 75.082671 meters # Minimum depth: 435.739391 meters looking forward 100.000000 meters along route # Maximum depth: 444.153301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.739391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825553; longitude = -121.988218; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 358.376355; finalDepth = 385.739391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.962666 # Actual altitude: 57.962666 # Commanded vehicle depth:385.739391 # Seafloor depth:-443.702057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 231.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.082671 meters # Minimum depth: 408.376355 meters looking forward 100.000000 meters along route # Maximum depth: 437.634547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.376355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825819; longitude = -121.988704; captureRadius = 10; duration = 75; initialDepth = 299.103868; finalDepth = 358.376355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.050704 # Actual altitude: 76.050704 # Commanded vehicle depth:358.376355 # Seafloor depth:-434.427059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 304.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 304.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.082671 meters # Minimum depth: 349.103868 meters looking forward 100.000000 meters along route # Maximum depth: 417.196772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.103868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826218; longitude = -121.989432; captureRadius = 10; duration = 75; initialDepth = 254.101917; finalDepth = 299.103868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.196941 # Actual altitude: 100 # Commanded vehicle depth:299.103868 # Seafloor depth:-406.300809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.082671 meters # Minimum depth: 304.101917 meters looking forward 100.000000 meters along route # Maximum depth: 366.145652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.101917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826604; longitude = -121.990138; captureRadius = 10; duration = 75; initialDepth = 216.213082; finalDepth = 254.101917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.196941 # Actual altitude: 100 # Commanded vehicle depth:254.101917 # Seafloor depth:-346.570674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.082671 meters # Minimum depth: 266.213082 meters looking forward 100.000000 meters along route # Maximum depth: 315.820312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.213082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826985; longitude = -121.990833; captureRadius = 10; duration = 75; initialDepth = 177.421329; finalDepth = 216.213082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.468757 # Actual altitude: 92.468757 # Commanded vehicle depth:216.213082 # Seafloor depth:-300.396677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.99; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.082671 meters # Minimum depth: 227.421329 meters looking forward 100.000000 meters along route # Maximum depth: 269.001054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.421329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827370; longitude = -121.991538; captureRadius = 10; duration = 75; initialDepth = 109.145363; finalDepth = 177.421329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.979796 # Actual altitude: 88.979796 # Commanded vehicle depth:177.421329 # Seafloor depth:-266.401125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.59; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.082671 meters # Minimum depth: 159.145363 meters looking forward 100.000000 meters along route # Maximum depth: 231.183467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.145363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827752; longitude = -121.992234; captureRadius = 10; duration = 75; initialDepth = 68.543778; finalDepth = 109.145363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.284656 # Actual altitude: 100 # Commanded vehicle depth:109.145363 # Seafloor depth:-219.430019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.082671 meters # Minimum depth: 118.543778 meters looking forward 100.000000 meters along route # Maximum depth: 170.300252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.543778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828150; longitude = -121.992963; captureRadius = 10; duration = 75; initialDepth = 63.618674; finalDepth = 68.543778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.284656 # Actual altitude: 100 # Commanded vehicle depth:68.543778 # Seafloor depth:-157.035832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.082671 meters # Minimum depth: 113.618674 meters looking forward 100.000000 meters along route # Maximum depth: 119.893471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.618674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828549; longitude = -121.993692; captureRadius = 10; duration = 75; initialDepth = 48.938875; finalDepth = 63.618674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.492054 # Actual altitude: 88.492054 # Commanded vehicle depth:63.618674 # Seafloor depth:-118.781790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.40; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.082671 meters # Minimum depth: 98.938875 meters looking forward 100.000000 meters along route # Maximum depth: 116.492925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.938875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828948; longitude = -121.994420; captureRadius = 10; duration = 75; initialDepth = 48.723394; finalDepth = 48.938875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.714669 # Actual altitude: 66.714669 # Commanded vehicle depth:48.938875 # Seafloor depth:-115.653544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.69; MB_Bottom_Detect_Filter_Max_Range = 266.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.082671 meters # Minimum depth: 98.723394 meters looking forward 100.000000 meters along route # Maximum depth: 101.979299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.723394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829353; longitude = -121.995160; captureRadius = 10; duration = 75; initialDepth = 48.242241; finalDepth = 48.723394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.714669 # Actual altitude: 66.714669 # Commanded vehicle depth:48.723394 # Seafloor depth:-98.953907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.69; MB_Bottom_Detect_Filter_Max_Range = 266.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.082671 meters # Minimum depth: 98.242241 meters looking forward 100.000000 meters along route # Maximum depth: 100.227958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.242241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829746; longitude = -121.995877; captureRadius = 10; duration = 75; initialDepth = 48.520756; finalDepth = 48.242241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.190088 # Actual altitude: 51.190088 # Commanded vehicle depth:48.242241 # Seafloor depth:-99.432329 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 75.082671 meters # Minimum depth: 98.520756 meters looking forward 100.000000 meters along route # Maximum depth: 100.227958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.520756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830134; longitude = -121.996587; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 48.083523; finalDepth = 48.520756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.190088 # Actual altitude: 51.190088 # Commanded vehicle depth:48.520756 # Seafloor depth:-99.562819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.082671 meters # Minimum depth: 98.083523 meters looking forward 100.000000 meters along route # Maximum depth: 99.320775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.083523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830356; longitude = -121.996158; captureRadius = 10; duration = 75; initialDepth = 47.832024; finalDepth = 48.083523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.042063 # Actual altitude: 51.042063 # Commanded vehicle depth:48.083523 # Seafloor depth:-98.860911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.082671 meters # Minimum depth: 97.832024 meters looking forward 100.000000 meters along route # Maximum depth: 98.599259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.832024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830734; longitude = -121.995429; captureRadius = 10; duration = 75; initialDepth = 47.559321; finalDepth = 47.832024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.777388 # Actual altitude: 50.777388 # Commanded vehicle depth:47.832024 # Seafloor depth:-98.425588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.082671 meters # Minimum depth: 97.559321 meters looking forward 100.000000 meters along route # Maximum depth: 98.214539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.559321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831111; longitude = -121.994700; captureRadius = 10; duration = 75; initialDepth = 47.559321; finalDepth = 47.559321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.593564 # Actual altitude: 50.593564 # Commanded vehicle depth:47.559321 # Seafloor depth:-97.932056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.082671 meters # Minimum depth: 97.559321 meters looking forward 100.000000 meters along route # Maximum depth: 98.019577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.559321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831488; longitude = -121.993972; captureRadius = 10; duration = 75; initialDepth = 47.855024; finalDepth = 47.559321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.445337 # Actual altitude: 50.445337 # Commanded vehicle depth:47.559321 # Seafloor depth:-98.004658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.082671 meters # Minimum depth: 97.855024 meters looking forward 100.000000 meters along route # Maximum depth: 98.568553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.855024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831876; longitude = -121.993223; captureRadius = 10; duration = 75; initialDepth = 47.543193; finalDepth = 47.855024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.445337 # Actual altitude: 50.445337 # Commanded vehicle depth:47.855024 # Seafloor depth:-98.025620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.082671 meters # Minimum depth: 97.543193 meters looking forward 100.000000 meters along route # Maximum depth: 98.764659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.543193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832243; longitude = -121.992515; captureRadius = 10; duration = 75; initialDepth = 48.129397; finalDepth = 47.543193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.735511 # Actual altitude: 50.735511 # Commanded vehicle depth:47.543193 # Seafloor depth:-98.278704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.082671 meters # Minimum depth: 98.129397 meters looking forward 100.000000 meters along route # Maximum depth: 99.014494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.129397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832620; longitude = -121.991786; captureRadius = 10; duration = 75; initialDepth = 48.160363; finalDepth = 48.129397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.735511 # Actual altitude: 50.735511 # Commanded vehicle depth:48.129397 # Seafloor depth:-98.171567 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 75.082671 meters # Minimum depth: 98.160363 meters looking forward 100.000000 meters along route # Maximum depth: 100.233889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.160363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832988; longitude = -121.991076; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 48.550645; finalDepth = 48.160363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.861383 # Actual altitude: 50.861383 # Commanded vehicle depth:48.160363 # Seafloor depth:-99.021746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.082671 meters # Minimum depth: 98.550645 meters looking forward 100.000000 meters along route # Maximum depth: 119.007303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.550645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832911; longitude = -121.991001; captureRadius = 10; duration = 75; initialDepth = 63.819493; finalDepth = 48.550645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.741096 # Actual altitude: 51.741096 # Commanded vehicle depth:48.550645 # Seafloor depth:-100.291741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.082671 meters # Minimum depth: 113.819493 meters looking forward 100.000000 meters along route # Maximum depth: 136.157050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.819493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832372; longitude = -121.990484; captureRadius = 10; duration = 75; initialDepth = 81.899896; finalDepth = 63.819493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5679 # Actual altitude: 55.5679 # Commanded vehicle depth:63.819493 # Seafloor depth:-119.387393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.23; MB_Bottom_Detect_Filter_Max_Range = 222.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.082671 meters # Minimum depth: 131.899896 meters looking forward 100.000000 meters along route # Maximum depth: 154.698053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.899896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831831; longitude = -121.989964; captureRadius = 10; duration = 75; initialDepth = 99.888606; finalDepth = 81.899896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5679 # Actual altitude: 55.5679 # Commanded vehicle depth:81.899896 # Seafloor depth:-137.046938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.23; MB_Bottom_Detect_Filter_Max_Range = 222.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.082671 meters # Minimum depth: 149.888606 meters looking forward 100.000000 meters along route # Maximum depth: 187.401029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.888606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831290; longitude = -121.989444; captureRadius = 10; duration = 75; initialDepth = 122.635417; finalDepth = 99.888606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.756069 # Actual altitude: 56.756069 # Commanded vehicle depth:99.888606 # Seafloor depth:-156.644675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 227.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.082671 meters # Minimum depth: 181.225755 meters looking forward 100.000000 meters along route # Maximum depth: 216.446756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.635417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830750; longitude = -121.988924; captureRadius = 10; duration = 75; initialDepth = 145.382289; finalDepth = 122.635417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.6350231000006 # Actual altitude: 64.6350231000006 # Commanded vehicle depth:122.635416899999 # Seafloor depth:-187.270440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 258.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.082671 meters # Minimum depth: 209.993375 meters looking forward 100.000000 meters along route # Maximum depth: 247.703044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.382289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830209; longitude = -121.988404; captureRadius = 10; duration = 75; initialDepth = 168.129222; finalDepth = 145.382289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.0506430000001 # Actual altitude: 72.0506430000001 # Commanded vehicle depth:145.382289 # Seafloor depth:-217.432932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 288.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.82; MB_Bottom_Detect_Filter_Max_Range = 288.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.082671 meters # Minimum depth: 239.636544 meters looking forward 100.000000 meters along route # Maximum depth: 287.027161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.129222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829668; longitude = -121.987884; captureRadius = 10; duration = 75; initialDepth = 191.107831; finalDepth = 168.129222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.6819419999997 # Actual altitude: 82.6819419999997 # Commanded vehicle depth:168.129222 # Seafloor depth:-250.811164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 330.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.07; MB_Bottom_Detect_Filter_Max_Range = 330.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.082671 meters # Minimum depth: 283.301841 meters looking forward 100.000000 meters along route # Maximum depth: 314.721441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.107831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829122; longitude = -121.987359; captureRadius = 10; duration = 75; initialDepth = 213.623271; finalDepth = 191.107831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.8167395000006 # Actual altitude: 95.8167395000006 # Commanded vehicle depth:191.107831499999 # Seafloor depth:-286.924571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.33; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.082671 meters # Minimum depth: 299.278454 meters looking forward 100.000000 meters along route # Maximum depth: 357.340462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.623271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828587; longitude = -121.986844; captureRadius = 10; duration = 75; initialDepth = 236.370387; finalDepth = 213.623271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.709076300001 # Actual altitude: 100 # Commanded vehicle depth:213.623270699999 # Seafloor depth:-316.332347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.082671 meters # Minimum depth: 349.917398 meters looking forward 100.000000 meters along route # Maximum depth: 394.183755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.370387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828046; longitude = -121.986324; captureRadius = 10; duration = 75; initialDepth = 259.117564; finalDepth = 236.370387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 122.6727663 # Actual altitude: 100 # Commanded vehicle depth:236.3703867 # Seafloor depth:-359.043153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.082671 meters # Minimum depth: 385.454822 meters looking forward 100.000000 meters along route # Maximum depth: 418.807712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.117564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827505; longitude = -121.985804; captureRadius = 10; duration = 75; initialDepth = 281.864801; finalDepth = 259.117564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 138.4340404 # Actual altitude: 100 # Commanded vehicle depth:259.1175636 # Seafloor depth:-397.551604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.082671 meters # Minimum depth: 417.199033 meters looking forward 100.000000 meters along route # Maximum depth: 421.943971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.864801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826965; longitude = -121.985284; captureRadius = 10; duration = 75; initialDepth = 304.612100; finalDepth = 281.864801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 138.4340404 # Actual altitude: 100 # Commanded vehicle depth:281.8648011 # Seafloor depth:-418.822561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.082671 meters # Minimum depth: 414.146630 meters looking forward 100.000000 meters along route # Maximum depth: 419.432596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 304.612100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826424; longitude = -121.984764; captureRadius = 10; duration = 75; initialDepth = 327.359460; finalDepth = 304.612100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 136.9577599 # Actual altitude: 100 # Commanded vehicle depth:304.6121001 # Seafloor depth:-417.467606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.082671 meters # Minimum depth: 413.126496 meters looking forward 100.000000 meters along route # Maximum depth: 425.890133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.359460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825883; longitude = -121.984244; captureRadius = 10; duration = 75; initialDepth = 350.106880; finalDepth = 327.359460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.8555059 # Actual altitude: 100 # Commanded vehicle depth:327.3594597 # Seafloor depth:-414.004077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.082671 meters # Minimum depth: 422.311063 meters looking forward 100.000000 meters along route # Maximum depth: 435.002832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.106880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825342; longitude = -121.983724; captureRadius = 10; duration = 75; initialDepth = 372.854362; finalDepth = 350.106880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.6446173000001 # Actual altitude: 86.6446173000001 # Commanded vehicle depth:350.106880199999 # Seafloor depth:-426.625824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 346.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.66; MB_Bottom_Detect_Filter_Max_Range = 346.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.082671 meters # Minimum depth: 433.278799 meters looking forward 100.000000 meters along route # Maximum depth: 437.722467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.854362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824802; longitude = -121.983204; captureRadius = 10; duration = 75; initialDepth = 386.921930; finalDepth = 372.854362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5189438000006 # Actual altitude: 76.5189438000006 # Commanded vehicle depth:372.8543619 # Seafloor depth:-435.036497 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.61; MB_Bottom_Detect_Filter_Max_Range = 306.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 75.082671 meters # Minimum depth: 436.921930 meters looking forward 100.000000 meters along route # Maximum depth: 445.857832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.921930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824246; longitude = -121.982670; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 394.760436; finalDepth = 386.921930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.1821351 # Actual altitude: 62.1821351 # Commanded vehicle depth:386.92193 # Seafloor depth:-438.135925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.87; MB_Bottom_Detect_Filter_Max_Range = 248.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.082671 meters # Minimum depth: 444.760436 meters looking forward 100.000000 meters along route # Maximum depth: 446.945110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.760436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824284; longitude = -121.983492; captureRadius = 10; duration = 75; initialDepth = 393.398729; finalDepth = 394.760436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.312665 # Actual altitude: 51.312665 # Commanded vehicle depth:394.760436 # Seafloor depth:-446.073101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.082671 meters # Minimum depth: 443.398729 meters looking forward 100.000000 meters along route # Maximum depth: 447.219297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.398729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824322; longitude = -121.984332; captureRadius = 10; duration = 75; initialDepth = 393.398729; finalDepth = 393.398729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.601544 # Actual altitude: 53.601544 # Commanded vehicle depth:393.398729 # Seafloor depth:-447.000273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.082671 meters # Minimum depth: 443.398729 meters looking forward 100.000000 meters along route # Maximum depth: 455.137738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.398729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824361; longitude = -121.985173; captureRadius = 10; duration = 75; initialDepth = 402.622409; finalDepth = 393.398729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.601544 # Actual altitude: 53.601544 # Commanded vehicle depth:393.398729 # Seafloor depth:-445.340023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.082671 meters # Minimum depth: 452.622409 meters looking forward 100.000000 meters along route # Maximum depth: 462.481196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.622409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824399; longitude = -121.986014; captureRadius = 10; duration = 75; initialDepth = 411.961394; finalDepth = 402.622409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.320949 # Actual altitude: 53.320949 # Commanded vehicle depth:402.622409 # Seafloor depth:-455.943358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.082671 meters # Minimum depth: 461.961394 meters looking forward 100.000000 meters along route # Maximum depth: 463.572335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.961394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824438; longitude = -121.986854; captureRadius = 10; duration = 75; initialDepth = 409.383630; finalDepth = 411.961394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.320949 # Actual altitude: 53.320949 # Commanded vehicle depth:411.961394 # Seafloor depth:-462.833010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.082671 meters # Minimum depth: 459.383630 meters looking forward 100.000000 meters along route # Maximum depth: 462.410427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.383630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824477; longitude = -121.987695; captureRadius = 10; duration = 75; initialDepth = 393.635469; finalDepth = 409.383630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.266041 # Actual altitude: 52.266041 # Commanded vehicle depth:409.38363 # Seafloor depth:-461.649671 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 75.082671 meters # Minimum depth: 443.635469 meters looking forward 100.000000 meters along route # Maximum depth: 462.410427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.635469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824516; longitude = -121.988554; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 359.357842; finalDepth = 393.635469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.167677 # Actual altitude: 67.167677 # Commanded vehicle depth:393.635469 # Seafloor depth:-460.803146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.87; MB_Bottom_Detect_Filter_Max_Range = 268.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.082671 meters # Minimum depth: 409.357842 meters looking forward 100.000000 meters along route # Maximum depth: 447.667014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.357842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824901; longitude = -121.989264; captureRadius = 10; duration = 75; initialDepth = 335.693783; finalDepth = 359.357842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.669357 # Actual altitude: 83.669357 # Commanded vehicle depth:359.357842 # Seafloor depth:-443.027199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 334.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.47; MB_Bottom_Detect_Filter_Max_Range = 334.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.082671 meters # Minimum depth: 385.693783 meters looking forward 100.000000 meters along route # Maximum depth: 413.416326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.693783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825297; longitude = -121.989995; captureRadius = 10; duration = 75; initialDepth = 271.391826; finalDepth = 335.693783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.669357 # Actual altitude: 83.669357 # Commanded vehicle depth:335.693783 # Seafloor depth:-409.367742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 334.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.47; MB_Bottom_Detect_Filter_Max_Range = 334.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.082671 meters # Minimum depth: 321.391826 meters looking forward 100.000000 meters along route # Maximum depth: 398.186280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.391826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825703; longitude = -121.990744; captureRadius = 10; duration = 75; initialDepth = 229.879713; finalDepth = 271.391826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.155974 # Actual altitude: 100 # Commanded vehicle depth:271.391826 # Seafloor depth:-383.547800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.082671 meters # Minimum depth: 279.879713 meters looking forward 100.000000 meters along route # Maximum depth: 334.846971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.879713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826086; longitude = -121.991450; captureRadius = 10; duration = 75; initialDepth = 186.428716; finalDepth = 229.879713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.155974 # Actual altitude: 100 # Commanded vehicle depth:229.879713 # Seafloor depth:-316.717609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.082671 meters # Minimum depth: 236.428716 meters looking forward 100.000000 meters along route # Maximum depth: 285.075657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.428716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826480; longitude = -121.992178; captureRadius = 10; duration = 75; initialDepth = 144.296858; finalDepth = 186.428716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.65992 # Actual altitude: 95.65992 # Commanded vehicle depth:186.428716 # Seafloor depth:-282.088636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.26; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.082671 meters # Minimum depth: 194.296858 meters looking forward 100.000000 meters along route # Maximum depth: 245.102797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.296858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826875; longitude = -121.992907; captureRadius = 10; duration = 75; initialDepth = 143.310255; finalDepth = 144.296858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.65992 # Actual altitude: 95.65992 # Commanded vehicle depth:144.296858 # Seafloor depth:-238.509437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.26; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.082671 meters # Minimum depth: 193.310255 meters looking forward 100.000000 meters along route # Maximum depth: 202.464654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.310255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827280; longitude = -121.993654; captureRadius = 10; duration = 75; initialDepth = 118.377323; finalDepth = 143.310255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.212579 # Actual altitude: 94.212579 # Commanded vehicle depth:143.310255 # Seafloor depth:-194.133305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.69; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.082671 meters # Minimum depth: 168.377323 meters looking forward 100.000000 meters along route # Maximum depth: 196.741867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.377323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827665; longitude = -121.994364; captureRadius = 10; duration = 75; initialDepth = 81.273606; finalDepth = 118.377323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.423718 # Actual altitude: 75.423718 # Commanded vehicle depth:118.377323 # Seafloor depth:-193.801041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 301.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.17; MB_Bottom_Detect_Filter_Max_Range = 301.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.082671 meters # Minimum depth: 131.273606 meters looking forward 100.000000 meters along route # Maximum depth: 176.381677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.273606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828060; longitude = -121.995093; captureRadius = 10; duration = 75; initialDepth = 51.391541; finalDepth = 81.273606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.687902 # Actual altitude: 84.687902 # Commanded vehicle depth:81.273606 # Seafloor depth:-165.961508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 338.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.88; MB_Bottom_Detect_Filter_Max_Range = 338.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.082671 meters # Minimum depth: 101.391541 meters looking forward 100.000000 meters along route # Maximum depth: 136.877015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.391541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828455; longitude = -121.995821; captureRadius = 10; duration = 75; initialDepth = 51.230394; finalDepth = 51.391541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.687902 # Actual altitude: 84.687902 # Commanded vehicle depth:51.391541 # Seafloor depth:-130.927721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 338.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.88; MB_Bottom_Detect_Filter_Max_Range = 338.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.082671 meters # Minimum depth: 101.230394 meters looking forward 100.000000 meters along route # Maximum depth: 102.302798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.230394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828857; longitude = -121.996564; captureRadius = 10; duration = 75; initialDepth = 50.108711; finalDepth = 51.230394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.53618 # Actual altitude: 79.53618 # Commanded vehicle depth:51.230394 # Seafloor depth:-101.899594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 318.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.81; MB_Bottom_Detect_Filter_Max_Range = 318.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.082671 meters # Minimum depth: 100.108711 meters looking forward 100.000000 meters along route # Maximum depth: 102.202843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.108711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829245; longitude = -121.997278; captureRadius = 10; duration = 75; initialDepth = 46.128864; finalDepth = 50.108711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.543034 # Actual altitude: 51.543034 # Commanded vehicle depth:50.108711 # Seafloor depth:-101.651745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.082671 meters # Minimum depth: 96.128864 meters looking forward 100.000000 meters along route # Maximum depth: 100.265176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.128864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829623; longitude = -121.997977; captureRadius = 10; duration = 75; initialDepth = 45.895020; finalDepth = 46.128864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.958484 # Actual altitude: 53.958484 # Commanded vehicle depth:46.128864 # Seafloor depth:-100.087348 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 75.082671 meters # Minimum depth: 95.895020 meters looking forward 100.000000 meters along route # Maximum depth: 97.889761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.895020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830014; longitude = -121.998698; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 47.039352; finalDepth = 45.895020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.958484 # Actual altitude: 53.958484 # Commanded vehicle depth:45.89502 # Seafloor depth:-95.895020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.082671 meters # Minimum depth: 97.039352 meters looking forward 100.000000 meters along route # Maximum depth: 99.534163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.039352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830363; longitude = -121.998063; captureRadius = 10; duration = 75; initialDepth = 48.598369; finalDepth = 47.039352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.998925 # Actual altitude: 50.998925 # Commanded vehicle depth:47.039352 # Seafloor depth:-98.038277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.082671 meters # Minimum depth: 98.598369 meters looking forward 100.000000 meters along route # Maximum depth: 99.692657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.598369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830750; longitude = -121.997359; captureRadius = 10; duration = 75; initialDepth = 47.349998; finalDepth = 48.598369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.998925 # Actual altitude: 50.998925 # Commanded vehicle depth:48.598369 # Seafloor depth:-99.570611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.082671 meters # Minimum depth: 97.349998 meters looking forward 100.000000 meters along route # Maximum depth: 99.293382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.349998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831133; longitude = -121.996662; captureRadius = 10; duration = 75; initialDepth = 47.349998; finalDepth = 47.349998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.225039 # Actual altitude: 51.225039 # Commanded vehicle depth:47.349998 # Seafloor depth:-98.575037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.082671 meters # Minimum depth: 97.349998 meters looking forward 100.000000 meters along route # Maximum depth: 98.592340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.349998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831533; longitude = -121.995933; captureRadius = 10; duration = 75; initialDepth = 46.896484; finalDepth = 47.349998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.225039 # Actual altitude: 51.225039 # Commanded vehicle depth:47.349998 # Seafloor depth:-97.757407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.082671 meters # Minimum depth: 96.896484 meters looking forward 100.000000 meters along route # Maximum depth: 97.912556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.896484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831921; longitude = -121.995227; captureRadius = 10; duration = 75; initialDepth = 46.611963; finalDepth = 46.896484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.407409 # Actual altitude: 50.407409 # Commanded vehicle depth:46.896484 # Seafloor depth:-97.242993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.082671 meters # Minimum depth: 96.611963 meters looking forward 100.000000 meters along route # Maximum depth: 97.502096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.611963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832303; longitude = -121.994532; captureRadius = 10; duration = 75; initialDepth = 46.667695; finalDepth = 46.611963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.568835 # Actual altitude: 50.568835 # Commanded vehicle depth:46.611963 # Seafloor depth:-97.180798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.082671 meters # Minimum depth: 96.667695 meters looking forward 100.000000 meters along route # Maximum depth: 97.743355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.667695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832703; longitude = -121.993804; captureRadius = 10; duration = 75; initialDepth = 46.669776; finalDepth = 46.667695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.568835 # Actual altitude: 50.568835 # Commanded vehicle depth:46.667695 # Seafloor depth:-96.667695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.082671 meters # Minimum depth: 96.669776 meters looking forward 100.000000 meters along route # Maximum depth: 97.329145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.669776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833103; longitude = -121.993075; captureRadius = 10; duration = 75; initialDepth = 46.854003; finalDepth = 46.669776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.659369 # Actual altitude: 50.659369 # Commanded vehicle depth:46.669776 # Seafloor depth:-97.329145 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 75.082671 meters # Minimum depth: 96.854003 meters looking forward 100.000000 meters along route # Maximum depth: 97.329145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.854003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833514; longitude = -121.992328; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 46.945355; finalDepth = 46.854003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.659369 # Actual altitude: 50.659369 # Commanded vehicle depth:46.854003 # Seafloor depth:-97.030027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.082671 meters # Minimum depth: 96.945355 meters looking forward 100.000000 meters along route # Maximum depth: 98.140097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.945355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833421; longitude = -121.992178; captureRadius = 10; duration = 75; initialDepth = 47.547983; finalDepth = 46.945355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.280418 # Actual altitude: 50.280418 # Commanded vehicle depth:46.945355 # Seafloor depth:-97.225773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.082671 meters # Minimum depth: 97.547983 meters looking forward 100.000000 meters along route # Maximum depth: 104.587794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.547983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833003; longitude = -121.991503; captureRadius = 10; duration = 75; initialDepth = 50.334046; finalDepth = 47.547983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.612548 # Actual altitude: 50.612548 # Commanded vehicle depth:47.547983 # Seafloor depth:-98.160531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.082671 meters # Minimum depth: 100.334046 meters looking forward 100.000000 meters along route # Maximum depth: 127.734056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.334046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832588; longitude = -121.990833; captureRadius = 10; duration = 75; initialDepth = 72.521928; finalDepth = 50.334046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.666271 # Actual altitude: 54.666271 # Commanded vehicle depth:50.334046 # Seafloor depth:-105.000317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.082671 meters # Minimum depth: 122.521928 meters looking forward 100.000000 meters along route # Maximum depth: 148.071890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.521928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832172; longitude = -121.990161; captureRadius = 10; duration = 75; initialDepth = 93.477842; finalDepth = 72.521928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.049674 # Actual altitude: 56.049674 # Commanded vehicle depth:72.521928 # Seafloor depth:-128.571602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.42; MB_Bottom_Detect_Filter_Max_Range = 224.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.082671 meters # Minimum depth: 143.477842 meters looking forward 100.000000 meters along route # Maximum depth: 171.242536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.477842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831755; longitude = -121.989488; captureRadius = 10; duration = 75; initialDepth = 113.298598; finalDepth = 93.477842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.339187 # Actual altitude: 56.339187 # Commanded vehicle depth:93.477842 # Seafloor depth:-149.817029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.082671 meters # Minimum depth: 163.298598 meters looking forward 100.000000 meters along route # Maximum depth: 195.705552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.298598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831336; longitude = -121.988811; captureRadius = 10; duration = 75; initialDepth = 135.843182; finalDepth = 113.298598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.062802 # Actual altitude: 58.062802 # Commanded vehicle depth:113.298598 # Seafloor depth:-171.361400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.23; MB_Bottom_Detect_Filter_Max_Range = 232.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.082671 meters # Minimum depth: 189.484671 meters looking forward 100.000000 meters along route # Maximum depth: 225.284236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.843182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830922; longitude = -121.988143; captureRadius = 10; duration = 75; initialDepth = 139.484671; finalDepth = 135.843182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.3169908000006 # Actual altitude: 60.3169908000006 # Commanded vehicle depth:135.843182199999 # Seafloor depth:-196.160173 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 241.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 75.082671 meters # Minimum depth: 189.484671 meters looking forward 100.000000 meters along route # Maximum depth: 225.883118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.484671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830494; longitude = -121.987452; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 140.037367; finalDepth = 139.484671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.398447 # Actual altitude: 86.398447 # Commanded vehicle depth:139.484671 # Seafloor depth:-225.883118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 345.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.56; MB_Bottom_Detect_Filter_Max_Range = 345.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 75.082671 meters # Minimum depth: 220.149923 meters looking forward 100.000000 meters along route # Maximum depth: 248.732907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.037367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830479; longitude = -121.987442; captureRadius = 10; duration = 75; initialDepth = 163.861962; finalDepth = 140.037367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.9829473000002 # Actual altitude: 86.9829473000002 # Commanded vehicle depth:140.0373667 # Seafloor depth:-227.020314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 347.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.79; MB_Bottom_Detect_Filter_Max_Range = 347.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 75.082671 meters # Minimum depth: 247.000998 meters looking forward 100.000000 meters along route # Maximum depth: 289.482847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.861962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829849; longitude = -121.987021; captureRadius = 10; duration = 75; initialDepth = 187.686601; finalDepth = 163.861962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.9829473000002 # Actual altitude: 86.9829473000002 # Commanded vehicle depth:163.8619621 # Seafloor depth:-247.000998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 347.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.79; MB_Bottom_Detect_Filter_Max_Range = 347.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 75.082671 meters # Minimum depth: 277.357849 meters looking forward 100.000000 meters along route # Maximum depth: 335.299691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.686601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829218; longitude = -121.986601; captureRadius = 10; duration = 75; initialDepth = 210.369721; finalDepth = 187.686601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.4361497 # Actual altitude: 100 # Commanded vehicle depth:187.6866013 # Seafloor depth:-293.122751 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 75.082671 meters # Minimum depth: 321.085852 meters looking forward 100.000000 meters along route # Maximum depth: 347.192913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.369721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828617; longitude = -121.986200; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 230.673311; finalDepth = 210.369721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 126.1660003 # Actual altitude: 100 # Commanded vehicle depth:210.3697207 # Seafloor depth:-336.535721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 75.082671 meters # Minimum depth: 342.928255 meters looking forward 100.000000 meters along route # Maximum depth: 377.648295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.673311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828136; longitude = -121.986667; captureRadius = 10; duration = 75; initialDepth = 253.506033; finalDepth = 230.673311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 126.1660003 # Actual altitude: 100 # Commanded vehicle depth:230.673311499999 # Seafloor depth:-348.761091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 75.082671 meters # Minimum depth: 373.061895 meters looking forward 100.000000 meters along route # Maximum depth: 400.332967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 253.506033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827595; longitude = -121.987192; captureRadius = 10; duration = 75; initialDepth = 276.338811; finalDepth = 253.506033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 124.2185665 # Actual altitude: 100 # Commanded vehicle depth:253.5060325 # Seafloor depth:-377.724599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 75.082671 meters # Minimum depth: 395.952336 meters looking forward 100.000000 meters along route # Maximum depth: 422.107632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.338811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827055; longitude = -121.987717; captureRadius = 10; duration = 75; initialDepth = 299.728238; finalDepth = 276.338811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 124.9012565 # Actual altitude: 100 # Commanded vehicle depth:276.3388105 # Seafloor depth:-401.240067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 75.082671 meters # Minimum depth: 417.005976 meters looking forward 100.000000 meters along route # Maximum depth: 429.836278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.728238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826501; longitude = -121.988255; captureRadius = 10; duration = 75; initialDepth = 323.279384; finalDepth = 299.728238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 124.9012565 # Actual altitude: 100 # Commanded vehicle depth:299.7282379 # Seafloor depth:-422.676304 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 75.082671 meters # Minimum depth: 422.107632 meters looking forward 100.000000 meters along route # Maximum depth: 431.689862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.279384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825943; longitude = -121.988797; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 328.481798; finalDepth = 323.279384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 122.9480661 # Actual altitude: 100 # Commanded vehicle depth:323.2793839 # Seafloor depth:-429.930054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 75.082671 meters # Minimum depth: 429.836278 meters looking forward 100.000000 meters along route # Maximum depth: 441.946669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.481798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825793; longitude = -121.988851; captureRadius = 10; duration = 75; initialDepth = 351.916133; finalDepth = 328.481798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.6506701 # Actual altitude: 100 # Commanded vehicle depth:328.4817985 # Seafloor depth:-433.070610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 75.082671 meters # Minimum depth: 438.290950 meters looking forward 100.000000 meters along route # Maximum depth: 454.703397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.916133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825117; longitude = -121.989097; captureRadius = 10; duration = 75; initialDepth = 375.350480; finalDepth = 351.916133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.5888115 # Actual altitude: 100 # Commanded vehicle depth:351.9161332 # Seafloor depth:-441.983297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 75.082671 meters # Minimum depth: 450.008753 meters looking forward 100.000000 meters along route # Maximum depth: 470.256411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.350480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824441; longitude = -121.989342; captureRadius = 10; duration = 75; initialDepth = 398.270566; finalDepth = 375.350480; 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: 90.0671637999998 # Actual altitude: 90.0671637999998 # Commanded vehicle depth:375.3504802 # Seafloor depth:-456.265176 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.03; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 75.082671 meters # Minimum depth: 460.883258 meters looking forward 100.000000 meters along route # Maximum depth: 470.622177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.270566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823780; longitude = -121.989582; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 390.292344; finalDepth = 398.270566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9146957999998 # Actual altitude: 80.9146957999998 # Commanded vehicle depth:398.2705657 # Seafloor depth:-470.622177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 323.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.37; MB_Bottom_Detect_Filter_Max_Range = 323.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.082671 meters # Minimum depth: 440.292344 meters looking forward 100.000000 meters along route # Maximum depth: 467.852237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.292344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824003; longitude = -121.989993; captureRadius = 10; duration = 75; initialDepth = 345.184962; finalDepth = 390.292344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.64827 # Actual altitude: 73.64827 # Commanded vehicle depth:390.292344 # Seafloor depth:-463.940614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.46; MB_Bottom_Detect_Filter_Max_Range = 294.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.082671 meters # Minimum depth: 395.184962 meters looking forward 100.000000 meters along route # Maximum depth: 446.197830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.184962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824398; longitude = -121.990721; captureRadius = 10; duration = 75; initialDepth = 297.242037; finalDepth = 345.184962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.924421 # Actual altitude: 94.924421 # Commanded vehicle depth:345.184962 # Seafloor depth:-440.109383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.97; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.082671 meters # Minimum depth: 347.242037 meters looking forward 100.000000 meters along route # Maximum depth: 408.039857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 297.242037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824802; longitude = -121.991464; captureRadius = 10; duration = 75; initialDepth = 264.243725; finalDepth = 297.242037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.735379 # Actual altitude: 96.735379 # Commanded vehicle depth:297.242037 # Seafloor depth:-393.977416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.69; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.082671 meters # Minimum depth: 314.243725 meters looking forward 100.000000 meters along route # Maximum depth: 352.329761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.243725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825189; longitude = -121.992178; captureRadius = 10; duration = 75; initialDepth = 237.256256; finalDepth = 264.243725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.735379 # Actual altitude: 96.735379 # Commanded vehicle depth:264.243725 # Seafloor depth:-347.735299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.69; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.082671 meters # Minimum depth: 287.256256 meters looking forward 100.000000 meters along route # Maximum depth: 328.049479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.256256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825568; longitude = -121.992875; captureRadius = 10; duration = 75; initialDepth = 232.928699; finalDepth = 237.256256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.491574 # Actual altitude: 83.491574 # Commanded vehicle depth:237.256256 # Seafloor depth:-311.713662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 333.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.40; MB_Bottom_Detect_Filter_Max_Range = 333.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.082671 meters # Minimum depth: 282.928699 meters looking forward 100.000000 meters along route # Maximum depth: 294.765010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.928699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825950; longitude = -121.993580; captureRadius = 10; duration = 75; initialDepth = 163.073881; finalDepth = 232.928699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.457406 # Actual altitude: 74.457406 # Commanded vehicle depth:232.928699 # Seafloor depth:-289.980999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 297.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.78; MB_Bottom_Detect_Filter_Max_Range = 297.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.082671 meters # Minimum depth: 213.073881 meters looking forward 100.000000 meters along route # Maximum depth: 289.503364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.073881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826345; longitude = -121.994308; captureRadius = 10; duration = 75; initialDepth = 111.689183; finalDepth = 163.073881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 118.64636 # Actual altitude: 100 # Commanded vehicle depth:163.073881 # Seafloor depth:-281.720241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.082671 meters # Minimum depth: 161.689183 meters looking forward 100.000000 meters along route # Maximum depth: 226.575328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.689183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826741; longitude = -121.995037; captureRadius = 10; duration = 75; initialDepth = 75.787211; finalDepth = 111.689183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 118.64636 # Actual altitude: 100 # Commanded vehicle depth:111.689183 # Seafloor depth:-212.866440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.082671 meters # Minimum depth: 125.787211 meters looking forward 100.000000 meters along route # Maximum depth: 176.992320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.787211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827145; longitude = -121.995781; captureRadius = 10; duration = 75; initialDepth = 66.039360; finalDepth = 75.787211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.177257 # Actual altitude: 100 # Commanded vehicle depth:75.787211 # Seafloor depth:-159.858829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.082671 meters # Minimum depth: 116.039360 meters looking forward 100.000000 meters along route # Maximum depth: 131.620837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.039360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827532; longitude = -121.996494; captureRadius = 10; duration = 75; initialDepth = 56.797500; finalDepth = 66.039360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.071618 # Actual altitude: 84.071618 # Commanded vehicle depth:66.03936 # Seafloor depth:-126.157185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 336.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.63; MB_Bottom_Detect_Filter_Max_Range = 336.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.082671 meters # Minimum depth: 106.797500 meters looking forward 100.000000 meters along route # Maximum depth: 126.023240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.797500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827911; longitude = -121.997193; captureRadius = 10; duration = 75; initialDepth = 48.992677; finalDepth = 56.797500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.117825 # Actual altitude: 60.117825 # Commanded vehicle depth:56.7975 # Seafloor depth:-113.198784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.05; MB_Bottom_Detect_Filter_Max_Range = 240.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.082671 meters # Minimum depth: 98.992677 meters looking forward 100.000000 meters along route # Maximum depth: 108.049027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.992677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828292; longitude = -121.997895; captureRadius = 10; duration = 75; initialDepth = 50.406134; finalDepth = 48.992677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.401284 # Actual altitude: 56.401284 # Commanded vehicle depth:48.992677 # Seafloor depth:-104.613659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.082671 meters # Minimum depth: 100.406134 meters looking forward 100.000000 meters along route # Maximum depth: 102.936015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.406134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828688; longitude = -121.998624; captureRadius = 10; duration = 75; initialDepth = 47.003179; finalDepth = 50.406134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.620982 # Actual altitude: 55.620982 # Commanded vehicle depth:50.406134 # Seafloor depth:-100.545325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.082671 meters # Minimum depth: 97.003179 meters looking forward 100.000000 meters along route # Maximum depth: 102.826575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.003179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829083; longitude = -121.999352; captureRadius = 10; duration = 75; initialDepth = 44.796281; finalDepth = 47.003179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.967851 # Actual altitude: 54.967851 # Commanded vehicle depth:47.003179 # Seafloor depth:-101.971030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.082671 meters # Minimum depth: 94.796281 meters looking forward 100.000000 meters along route # Maximum depth: 97.629206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.796281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829478; longitude = -122.000081; captureRadius = 10; duration = 75; initialDepth = 44.676179; finalDepth = 44.796281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.967851 # Actual altitude: 54.967851 # Commanded vehicle depth:44.796281 # Seafloor depth:-96.589792 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 75.082671 meters # Minimum depth: 94.676179 meters looking forward 100.000000 meters along route # Maximum depth: 97.629206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.676179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829864; longitude = -122.000791; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 43.728517; finalDepth = 44.676179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.793511 # Actual altitude: 51.793511 # Commanded vehicle depth:44.676179 # Seafloor depth:-95.106337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.082671 meters # Minimum depth: 93.728517 meters looking forward 100.000000 meters along route # Maximum depth: 95.580357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 43.728517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829894; longitude = -122.000736; captureRadius = 10; duration = 75; initialDepth = 42.034059; finalDepth = 43.728517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.899201 # Actual altitude: 50.899201 # Commanded vehicle depth:43.728517 # Seafloor depth:-94.627718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.082671 meters # Minimum depth: 92.034059 meters looking forward 100.000000 meters along route # Maximum depth: 94.704214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 42.034059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830280; longitude = -122.000025; captureRadius = 10; duration = 75; initialDepth = 41.326526; finalDepth = 42.034059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.483465 # Actual altitude: 51.483465 # Commanded vehicle depth:42.034059 # Seafloor depth:-93.517524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.082671 meters # Minimum depth: 91.326526 meters looking forward 100.000000 meters along route # Maximum depth: 96.384452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.326526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830660; longitude = -121.999324; captureRadius = 10; duration = 75; initialDepth = 42.474460; finalDepth = 41.326526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.483465 # Actual altitude: 51.483465 # Commanded vehicle depth:41.326526 # Seafloor depth:-91.762577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.082671 meters # Minimum depth: 92.474460 meters looking forward 100.000000 meters along route # Maximum depth: 97.992576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 42.474460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831039; longitude = -121.998624; captureRadius = 10; duration = 75; initialDepth = 47.542487; finalDepth = 42.474460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.579699 # Actual altitude: 54.579699 # Commanded vehicle depth:42.47446 # Seafloor depth:-97.054159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.082671 meters # Minimum depth: 97.542487 meters looking forward 100.000000 meters along route # Maximum depth: 98.437602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.542487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831435; longitude = -121.997895; captureRadius = 10; duration = 75; initialDepth = 47.387127; finalDepth = 47.542487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.579699 # Actual altitude: 54.579699 # Commanded vehicle depth:47.542487 # Seafloor depth:-98.116361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.082671 meters # Minimum depth: 97.387127 meters looking forward 100.000000 meters along route # Maximum depth: 98.120462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.387127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831831; longitude = -121.997164; captureRadius = 10; duration = 75; initialDepth = 46.879997; finalDepth = 47.387127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.573874 # Actual altitude: 50.573874 # Commanded vehicle depth:47.387127 # Seafloor depth:-97.838215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.082671 meters # Minimum depth: 96.879997 meters looking forward 100.000000 meters along route # Maximum depth: 97.744751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.879997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832237; longitude = -121.996416; captureRadius = 10; duration = 75; initialDepth = 46.277773; finalDepth = 46.879997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.62533 # Actual altitude: 50.62533 # Commanded vehicle depth:46.879997 # Seafloor depth:-97.505327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.082671 meters # Minimum depth: 96.277773 meters looking forward 100.000000 meters along route # Maximum depth: 97.152480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.277773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832620; longitude = -121.995709; captureRadius = 10; duration = 75; initialDepth = 46.207318; finalDepth = 46.277773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.709548 # Actual altitude: 50.709548 # Commanded vehicle depth:46.277773 # Seafloor depth:-96.987321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.082671 meters # Minimum depth: 96.207318 meters looking forward 100.000000 meters along route # Maximum depth: 97.237555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.207318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833015; longitude = -121.994981; captureRadius = 10; duration = 75; initialDepth = 45.906006; finalDepth = 46.207318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.709548 # Actual altitude: 50.709548 # Commanded vehicle depth:46.207318 # Seafloor depth:-96.880073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.082671 meters # Minimum depth: 95.906006 meters looking forward 100.000000 meters along route # Maximum depth: 96.965574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.906006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833410; longitude = -121.994252; captureRadius = 10; duration = 75; initialDepth = 45.865450; finalDepth = 45.906006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.672755 # Actual altitude: 50.672755 # Commanded vehicle depth:45.906006 # Seafloor depth:-96.454865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.082671 meters # Minimum depth: 95.865450 meters looking forward 100.000000 meters along route # Maximum depth: 96.763231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.865450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833814; longitude = -121.993508; captureRadius = 10; duration = 75; initialDepth = 45.696392; finalDepth = 45.865450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.548859 # Actual altitude: 50.548859 # Commanded vehicle depth:45.86545 # Seafloor depth:-96.119208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.082671 meters # Minimum depth: 95.696392 meters looking forward 100.000000 meters along route # Maximum depth: 96.750450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.696392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834201; longitude = -121.992795; captureRadius = 10; duration = 75; initialDepth = 45.541593; finalDepth = 45.696392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.918174 # Actual altitude: 50.918174 # Commanded vehicle depth:45.696392 # Seafloor depth:-96.614566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.082671 meters # Minimum depth: 95.541593 meters looking forward 100.000000 meters along route # Maximum depth: 96.435151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.541593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834596; longitude = -121.992066; captureRadius = 10; duration = 75; initialDepth = 45.523191; finalDepth = 45.541593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.918174 # Actual altitude: 50.918174 # Commanded vehicle depth:45.541593 # Seafloor depth:-95.997167 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 75.082671 meters # Minimum depth: 95.523191 meters looking forward 100.000000 meters along route # Maximum depth: 96.910524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.523191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835001; longitude = -121.991319; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 45.948774; finalDepth = 45.523191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.455574 # Actual altitude: 50.455574 # Commanded vehicle depth:45.523191 # Seafloor depth:-95.523191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 75.082671 meters # Minimum depth: 95.948774 meters looking forward 100.000000 meters along route # Maximum depth: 101.964423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.948774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834400; longitude = -121.990889; captureRadius = 10; duration = 75; initialDepth = 49.120897; finalDepth = 45.948774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.962926 # Actual altitude: 50.962926 # Commanded vehicle depth:45.948774 # Seafloor depth:-96.911700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 75.082671 meters # Minimum depth: 99.120897 meters looking forward 100.000000 meters along route # Maximum depth: 112.373914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.120897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833772; longitude = -121.990441; captureRadius = 10; duration = 75; initialDepth = 59.417777; finalDepth = 49.120897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.257899 # Actual altitude: 53.257899 # Commanded vehicle depth:49.120897 # Seafloor depth:-102.378796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 213.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 75.082671 meters # Minimum depth: 109.417777 meters looking forward 100.000000 meters along route # Maximum depth: 131.151910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.417777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833183; longitude = -121.990020; captureRadius = 10; duration = 75; initialDepth = 77.732495; finalDepth = 59.417777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.274235 # Actual altitude: 53.274235 # Commanded vehicle depth:59.417777 # Seafloor depth:-112.692012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 75.082671 meters # Minimum depth: 127.732495 meters looking forward 100.000000 meters along route # Maximum depth: 148.139480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.732495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832596; longitude = -121.989600; captureRadius = 10; duration = 75; initialDepth = 92.901785; finalDepth = 77.732495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.457561 # Actual altitude: 53.457561 # Commanded vehicle depth:77.732495 # Seafloor depth:-131.190056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 75.082671 meters # Minimum depth: 142.901785 meters looking forward 100.000000 meters along route # Maximum depth: 169.165418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.901785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831969; longitude = -121.989152; captureRadius = 10; duration = 75; initialDepth = 114.015374; finalDepth = 92.901785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.037015 # Actual altitude: 56.037015 # Commanded vehicle depth:92.901785 # Seafloor depth:-148.938800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.41; MB_Bottom_Detect_Filter_Max_Range = 224.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 75.082671 meters # Minimum depth: 164.015374 meters looking forward 100.000000 meters along route # Maximum depth: 197.249246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.015374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831381; longitude = -121.988732; captureRadius = 10; duration = 75; initialDepth = 136.601580; finalDepth = 114.015374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.508057 # Actual altitude: 57.508057 # Commanded vehicle depth:114.015374 # Seafloor depth:-171.523431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.00; MB_Bottom_Detect_Filter_Max_Range = 230.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 75.082671 meters # Minimum depth: 190.328101 meters looking forward 100.000000 meters along route # Maximum depth: 228.345388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.601580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830792; longitude = -121.988311; captureRadius = 10; duration = 75; initialDepth = 160.714543; finalDepth = 136.601580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.7634518 # Actual altitude: 60.7634518 # Commanded vehicle depth:136.6015802 # Seafloor depth:-197.365032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.31; MB_Bottom_Detect_Filter_Max_Range = 243.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 75.082671 meters # Minimum depth: 219.997071 meters looking forward 100.000000 meters along route # Maximum depth: 270.582939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.714543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830164; longitude = -121.987862; captureRadius = 10; duration = 75; initialDepth = 183.780136; finalDepth = 160.714543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6702772000005 # Actual altitude: 67.6702772000005 # Commanded vehicle depth:160.714542799999 # Seafloor depth:-228.384820 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.07; MB_Bottom_Detect_Filter_Max_Range = 270.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 75.082671 meters # Minimum depth: 236.079667 meters looking forward 100.000000 meters along route # Maximum depth: 272.980759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 183.780136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829563; longitude = -121.987433; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 194.234899; finalDepth = 183.780136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.7190169 # Actual altitude: 87.7190169 # Commanded vehicle depth:183.7801361 # Seafloor depth:-271.499153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.09; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 75.082671 meters # Minimum depth: 268.787467 meters looking forward 100.000000 meters along route # Maximum depth: 297.639572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 194.234899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829443; longitude = -121.987072; captureRadius = 10; duration = 75; initialDepth = 216.764895; finalDepth = 194.234899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.7190169 # Actual altitude: 87.7190169 # Commanded vehicle depth:194.2348988 # Seafloor depth:-268.891551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.09; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 75.082671 meters # Minimum depth: 291.045873 meters looking forward 100.000000 meters along route # Maximum depth: 328.073255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.764895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829184; longitude = -121.986294; captureRadius = 10; duration = 75; initialDepth = 240.035994; finalDepth = 216.764895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4602624000008 # Actual altitude: 84.4602624000008 # Commanded vehicle depth:216.764894599999 # Seafloor depth:-301.225157 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 337.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.78; MB_Bottom_Detect_Filter_Max_Range = 337.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 75.082671 meters # Minimum depth: 313.486962 meters looking forward 100.000000 meters along route # Maximum depth: 353.579004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.035994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828917; longitude = -121.985490; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 256.211472; finalDepth = 240.035994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.8312324000001 # Actual altitude: 88.8312324000001 # Commanded vehicle depth:240.0359936 # Seafloor depth:-328.867226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.53; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 75.082671 meters # Minimum depth: 346.088476 meters looking forward 100.000000 meters along route # Maximum depth: 378.105129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 256.211472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828497; longitude = -121.985187; captureRadius = 10; duration = 75; initialDepth = 278.753686; finalDepth = 256.211472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.360496400001 # Actual altitude: 100 # Commanded vehicle depth:256.211471599999 # Seafloor depth:-356.571968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 75.082671 meters # Minimum depth: 373.804789 meters looking forward 100.000000 meters along route # Maximum depth: 400.597320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.753686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827911; longitude = -121.984764; captureRadius = 10; duration = 75; initialDepth = 301.295945; finalDepth = 278.753686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.360496400001 # Actual altitude: 100 # Commanded vehicle depth:278.7536864 # Seafloor depth:-378.881122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 75.082671 meters # Minimum depth: 378.276272 meters looking forward 100.000000 meters along route # Maximum depth: 400.597320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.295945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827325; longitude = -121.984341; captureRadius = 10; duration = 75; initialDepth = 323.838247; finalDepth = 301.295945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.1274356 # Actual altitude: 100 # Commanded vehicle depth:301.295945 # Seafloor depth:-400.552162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 75.082671 meters # Minimum depth: 377.896334 meters looking forward 100.000000 meters along route # Maximum depth: 394.786649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.838247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826739; longitude = -121.983918; captureRadius = 10; duration = 75; initialDepth = 330.376088; finalDepth = 323.838247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.2562169999999 # Actual altitude: 99.2562169999999 # Commanded vehicle depth:323.8382471 # Seafloor depth:-378.111683 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.70; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 75.082671 meters # Minimum depth: 380.376088 meters looking forward 100.000000 meters along route # Maximum depth: 406.789784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.376088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826123; longitude = -121.983473; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 345.323389; finalDepth = 330.376088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.155582 # Actual altitude: 64.155582 # Commanded vehicle depth:330.376088 # Seafloor depth:-394.531670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 256.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.082671 meters # Minimum depth: 403.140801 meters looking forward 100.000000 meters along route # Maximum depth: 410.045676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.323389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825838; longitude = -121.983041; captureRadius = 10; duration = 75; initialDepth = 358.547224; finalDepth = 345.323389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.155582 # Actual altitude: 64.155582 # Commanded vehicle depth:345.323389099999 # Seafloor depth:-406.802744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 256.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.082671 meters # Minimum depth: 408.547224 meters looking forward 100.000000 meters along route # Maximum depth: 420.456338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.547224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825387; longitude = -121.982359; captureRadius = 10; duration = 75; initialDepth = 367.781235; finalDepth = 358.547224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.4793549000006 # Actual altitude: 61.4793549000006 # Commanded vehicle depth:358.547224 # Seafloor depth:-409.904406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.59; MB_Bottom_Detect_Filter_Max_Range = 245.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.082671 meters # Minimum depth: 417.781235 meters looking forward 100.000000 meters along route # Maximum depth: 423.260471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.781235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824937; longitude = -121.981676; captureRadius = 10; duration = 75; initialDepth = 371.042109; finalDepth = 367.781235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.294094 # Actual altitude: 53.294094 # Commanded vehicle depth:367.781235 # Seafloor depth:-421.075329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.082671 meters # Minimum depth: 421.042109 meters looking forward 100.000000 meters along route # Maximum depth: 439.504276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.042109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824486; longitude = -121.980993; captureRadius = 10; duration = 75; initialDepth = 372.771529; finalDepth = 371.042109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.294094 # Actual altitude: 53.294094 # Commanded vehicle depth:371.042109 # Seafloor depth:-422.368348 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 75.082671 meters # Minimum depth: 422.771529 meters looking forward 100.000000 meters along route # Maximum depth: 441.974434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.771529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824051; longitude = -121.980334; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 380.235641; finalDepth = 372.771529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.986901 # Actual altitude: 66.986901 # Commanded vehicle depth:372.771529 # Seafloor depth:-439.758430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.79; MB_Bottom_Detect_Filter_Max_Range = 267.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.082671 meters # Minimum depth: 439.864015 meters looking forward 100.000000 meters along route # Maximum depth: 442.867557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.235641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823945; longitude = -121.980088; captureRadius = 10; duration = 75; initialDepth = 386.055665; finalDepth = 380.235641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.986901 # Actual altitude: 66.986901 # Commanded vehicle depth:380.2356409 # Seafloor depth:-442.369449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.79; MB_Bottom_Detect_Filter_Max_Range = 267.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.082671 meters # Minimum depth: 436.055665 meters looking forward 100.000000 meters along route # Maximum depth: 441.111644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.055665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823626; longitude = -121.979344; captureRadius = 10; duration = 75; initialDepth = 367.169441; finalDepth = 386.055665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.1338081 # Actual altitude: 62.1338081 # Commanded vehicle depth:386.055665 # Seafloor depth:-439.781003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.85; MB_Bottom_Detect_Filter_Max_Range = 248.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.082671 meters # Minimum depth: 417.169441 meters looking forward 100.000000 meters along route # Maximum depth: 437.594724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.169441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823290; longitude = -121.978560; captureRadius = 10; duration = 75; initialDepth = 366.612259; finalDepth = 367.169441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.340242 # Actual altitude: 68.340242 # Commanded vehicle depth:367.169441 # Seafloor depth:-435.509683 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.34; MB_Bottom_Detect_Filter_Max_Range = 273.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 75.082671 meters # Minimum depth: 416.612259 meters looking forward 100.000000 meters along route # Maximum depth: 436.359138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.612259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822969; longitude = -121.977812; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 356.750634; finalDepth = 366.612259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.340242 # Actual altitude: 68.340242 # Commanded vehicle depth:366.612259 # Seafloor depth:-416.612259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.34; MB_Bottom_Detect_Filter_Max_Range = 273.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.082671 meters # Minimum depth: 406.750634 meters looking forward 100.000000 meters along route # Maximum depth: 419.468841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.750634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823039; longitude = -121.977719; captureRadius = 10; duration = 75; initialDepth = 341.673564; finalDepth = 356.750634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.477321 # Actual altitude: 59.477321 # Commanded vehicle depth:356.750634 # Seafloor depth:-416.227955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.79; MB_Bottom_Detect_Filter_Max_Range = 237.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.082671 meters # Minimum depth: 391.673564 meters looking forward 100.000000 meters along route # Maximum depth: 410.376048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.673564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823506; longitude = -121.977102; captureRadius = 10; duration = 75; initialDepth = 324.271989; finalDepth = 341.673564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.496559 # Actual altitude: 64.496559 # Commanded vehicle depth:341.673564 # Seafloor depth:-406.170123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.80; MB_Bottom_Detect_Filter_Max_Range = 257.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.082671 meters # Minimum depth: 374.271989 meters looking forward 100.000000 meters along route # Maximum depth: 394.948614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.271989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823972; longitude = -121.976486; captureRadius = 10; duration = 75; initialDepth = 304.007866; finalDepth = 324.271989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.54733 # Actual altitude: 66.54733 # Commanded vehicle depth:324.271989 # Seafloor depth:-390.819319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.62; MB_Bottom_Detect_Filter_Max_Range = 266.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.082671 meters # Minimum depth: 354.007866 meters looking forward 100.000000 meters along route # Maximum depth: 378.356694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 304.007866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824441; longitude = -121.975866; captureRadius = 10; duration = 75; initialDepth = 301.198090; finalDepth = 304.007866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.203557 # Actual altitude: 70.203557 # Commanded vehicle depth:304.007866 # Seafloor depth:-374.211423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.08; MB_Bottom_Detect_Filter_Max_Range = 280.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.082671 meters # Minimum depth: 351.198090 meters looking forward 100.000000 meters along route # Maximum depth: 361.294528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.198090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824905; longitude = -121.975253; captureRadius = 10; duration = 75; initialDepth = 275.362458; finalDepth = 301.198090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.203557 # Actual altitude: 70.203557 # Commanded vehicle depth:301.19809 # Seafloor depth:-353.482768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.08; MB_Bottom_Detect_Filter_Max_Range = 280.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.082671 meters # Minimum depth: 325.362458 meters looking forward 100.000000 meters along route # Maximum depth: 356.989512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 275.362458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825371; longitude = -121.974636; captureRadius = 10; duration = 75; initialDepth = 273.316548; finalDepth = 275.362458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.37153 # Actual altitude: 78.37153 # Commanded vehicle depth:275.362458 # Seafloor depth:-353.733988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 313.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.082671 meters # Minimum depth: 323.316548 meters looking forward 100.000000 meters along route # Maximum depth: 334.143546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 273.316548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825838; longitude = -121.974019; captureRadius = 10; duration = 75; initialDepth = 264.917765; finalDepth = 273.316548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.37153 # Actual altitude: 78.37153 # Commanded vehicle depth:273.316548 # Seafloor depth:-325.345289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 313.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.082671 meters # Minimum depth: 314.917765 meters looking forward 100.000000 meters along route # Maximum depth: 341.330629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.917765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826303; longitude = -121.973403; captureRadius = 10; duration = 75; initialDepth = 235.999740; finalDepth = 264.917765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.535297 # Actual altitude: 68.535297 # Commanded vehicle depth:264.917765 # Seafloor depth:-333.453062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.41; MB_Bottom_Detect_Filter_Max_Range = 274.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.082671 meters # Minimum depth: 285.999740 meters looking forward 100.000000 meters along route # Maximum depth: 330.014185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.999740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826784; longitude = -121.972768; captureRadius = 10; duration = 75; initialDepth = 219.417271; finalDepth = 235.999740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.596647 # Actual altitude: 77.596647 # Commanded vehicle depth:235.99974 # Seafloor depth:-313.596387 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 310.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.04; MB_Bottom_Detect_Filter_Max_Range = 310.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 75.082671 meters # Minimum depth: 269.417271 meters looking forward 100.000000 meters along route # Maximum depth: 290.726587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.417271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827250; longitude = -121.972152; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 190.313441; finalDepth = 219.417271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.596647 # Actual altitude: 77.596647 # Commanded vehicle depth:219.417271 # Seafloor depth:-286.570396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 310.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.04; MB_Bottom_Detect_Filter_Max_Range = 310.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 75.082671 meters # Minimum depth: 240.313441 meters looking forward 100.000000 meters along route # Maximum depth: 275.127856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.313441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827038; longitude = -121.971442; captureRadius = 10; duration = 75; initialDepth = 188.399247; finalDepth = 190.313441; 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: 77.171349 # Actual altitude: 77.171349 # Commanded vehicle depth:190.313441 # Seafloor depth:-267.484790 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.87; MB_Bottom_Detect_Filter_Max_Range = 308.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 75.082671 meters # Minimum depth: 238.399247 meters looking forward 100.000000 meters along route # Maximum depth: 257.427862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.399247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826799; longitude = -121.970639; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 188.399247; finalDepth = 188.399247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.171349 # Actual altitude: 77.171349 # Commanded vehicle depth:188.399247 # Seafloor depth:-239.515282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.87; MB_Bottom_Detect_Filter_Max_Range = 308.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.082671 meters # Minimum depth: 238.399247 meters looking forward 100.000000 meters along route # Maximum depth: 255.055306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.399247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826469; longitude = -121.971054; captureRadius = 10; duration = 75; initialDepth = 203.229417; finalDepth = 188.399247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.420844 # Actual altitude: 53.420844 # Commanded vehicle depth:188.399247 # Seafloor depth:-241.820091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.082671 meters # Minimum depth: 253.229417 meters looking forward 100.000000 meters along route # Maximum depth: 259.749509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 203.229417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825973; longitude = -121.971676; captureRadius = 10; duration = 75; initialDepth = 208.743517; finalDepth = 203.229417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.420844 # Actual altitude: 53.420844 # Commanded vehicle depth:203.229417 # Seafloor depth:-255.152485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.082671 meters # Minimum depth: 258.743517 meters looking forward 100.000000 meters along route # Maximum depth: 265.650507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 208.743517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825478; longitude = -121.972298; captureRadius = 10; duration = 75; initialDepth = 213.985047; finalDepth = 208.743517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.923068 # Actual altitude: 51.923068 # Commanded vehicle depth:208.743517 # Seafloor depth:-259.827939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.082671 meters # Minimum depth: 263.985047 meters looking forward 100.000000 meters along route # Maximum depth: 274.693841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.985047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824999; longitude = -121.972899; captureRadius = 10; duration = 75; initialDepth = 222.507450; finalDepth = 213.985047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.31209 # Actual altitude: 52.31209 # Commanded vehicle depth:213.985047 # Seafloor depth:-266.297137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.082671 meters # Minimum depth: 272.507450 meters looking forward 100.000000 meters along route # Maximum depth: 280.298285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.507450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824508; longitude = -121.973516; captureRadius = 10; duration = 75; initialDepth = 228.074545; finalDepth = 222.507450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.706031 # Actual altitude: 52.706031 # Commanded vehicle depth:222.50745 # Seafloor depth:-275.213481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.082671 meters # Minimum depth: 278.074545 meters looking forward 100.000000 meters along route # Maximum depth: 293.795300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.074545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824017; longitude = -121.974132; captureRadius = 10; duration = 75; initialDepth = 240.270083; finalDepth = 228.074545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.719564 # Actual altitude: 52.719564 # Commanded vehicle depth:228.074545 # Seafloor depth:-280.794109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.082671 meters # Minimum depth: 290.270083 meters looking forward 100.000000 meters along route # Maximum depth: 300.439096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.270083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823526; longitude = -121.974749; captureRadius = 10; duration = 75; initialDepth = 248.716293; finalDepth = 240.270083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.787963 # Actual altitude: 53.787963 # Commanded vehicle depth:240.270083 # Seafloor depth:-294.058046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.082671 meters # Minimum depth: 298.716293 meters looking forward 100.000000 meters along route # Maximum depth: 311.631821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 248.716293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823035; longitude = -121.975365; captureRadius = 10; duration = 75; initialDepth = 259.834865; finalDepth = 248.716293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.787963 # Actual altitude: 53.787963 # Commanded vehicle depth:248.716293 # Seafloor depth:-300.248962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.082671 meters # Minimum depth: 309.834865 meters looking forward 100.000000 meters along route # Maximum depth: 330.142143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.834865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822544; longitude = -121.975982; captureRadius = 10; duration = 75; initialDepth = 235.710660; finalDepth = 259.834865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.532669 # Actual altitude: 51.532669 # Commanded vehicle depth:259.834865 # Seafloor depth:-311.049655 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 75.082671 meters # Minimum depth: 285.710660 meters looking forward 100.000000 meters along route # Maximum depth: 333.963844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.710660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822038; longitude = -121.976617; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 189.330147; finalDepth = 235.710660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.253184 # Actual altitude: 98.253184 # Commanded vehicle depth:235.71066 # Seafloor depth:-333.963844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.30; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 75.082671 meters # Minimum depth: 239.330147 meters looking forward 100.000000 meters along route # Maximum depth: 305.732568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.330147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821782; longitude = -121.976259; captureRadius = 10; duration = 75; initialDepth = 189.136143; finalDepth = 189.330147; 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: 98.253184 # Actual altitude: 98.253184 # Commanded vehicle depth:189.330147 # Seafloor depth:-285.233970 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.30; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 75.082671 meters # Minimum depth: 239.136143 meters looking forward 100.000000 meters along route # Maximum depth: 267.060667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.136143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821317; longitude = -121.975608; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 199.244461; finalDepth = 189.136143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.903823 # Actual altitude: 95.903823 # Commanded vehicle depth:189.136143 # Seafloor depth:-239.136143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.36; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 75.082671 meters # Minimum depth: 249.244461 meters looking forward 100.000000 meters along route # Maximum depth: 260.565199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.244461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821671; longitude = -121.975141; captureRadius = 10; duration = 75; initialDepth = 198.987379; finalDepth = 199.244461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.180076 # Actual altitude: 55.180076 # Commanded vehicle depth:199.244461 # Seafloor depth:-254.424537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 75.082671 meters # Minimum depth: 248.987379 meters looking forward 100.000000 meters along route # Maximum depth: 260.565199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 198.987379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822137; longitude = -121.974524; captureRadius = 10; duration = 75; initialDepth = 186.220666; finalDepth = 198.987379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.087043 # Actual altitude: 61.087043 # Commanded vehicle depth:198.987379 # Seafloor depth:-260.074422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.43; MB_Bottom_Detect_Filter_Max_Range = 244.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 75.082671 meters # Minimum depth: 236.220666 meters looking forward 100.000000 meters along route # Maximum depth: 254.372068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.220666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822604; longitude = -121.973908; captureRadius = 10; duration = 75; initialDepth = 178.536256; finalDepth = 186.220666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.774031 # Actual altitude: 62.774031 # Commanded vehicle depth:186.220666 # Seafloor depth:-248.994697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 251.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 75.082671 meters # Minimum depth: 228.536256 meters looking forward 100.000000 meters along route # Maximum depth: 240.280785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.536256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823070; longitude = -121.973291; captureRadius = 10; duration = 75; initialDepth = 172.939631; finalDepth = 178.536256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.774031 # Actual altitude: 62.774031 # Commanded vehicle depth:178.536256 # Seafloor depth:-235.621158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 251.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 75.082671 meters # Minimum depth: 222.939631 meters looking forward 100.000000 meters along route # Maximum depth: 230.355965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.939631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823540; longitude = -121.972671; captureRadius = 10; duration = 75; initialDepth = 169.099953; finalDepth = 172.939631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.084902 # Actual altitude: 57.084902 # Commanded vehicle depth:172.939631 # Seafloor depth:-228.818186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 228.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 75.082671 meters # Minimum depth: 219.099953 meters looking forward 100.000000 meters along route # Maximum depth: 224.786563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.099953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824003; longitude = -121.972058; captureRadius = 10; duration = 75; initialDepth = 157.018838; finalDepth = 169.099953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.878555 # Actual altitude: 55.878555 # Commanded vehicle depth:169.099953 # Seafloor depth:-222.697091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 223.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 75.082671 meters # Minimum depth: 207.018838 meters looking forward 100.000000 meters along route # Maximum depth: 219.893781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.018838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824470; longitude = -121.971442; captureRadius = 10; duration = 75; initialDepth = 150.842346; finalDepth = 157.018838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.178377 # Actual altitude: 62.178377 # Commanded vehicle depth:157.018838 # Seafloor depth:-219.197215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.87; MB_Bottom_Detect_Filter_Max_Range = 248.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 75.082671 meters # Minimum depth: 200.842346 meters looking forward 100.000000 meters along route # Maximum depth: 209.917530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.842346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824937; longitude = -121.970825; captureRadius = 10; duration = 75; initialDepth = 145.141466; finalDepth = 150.842346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.178377 # Actual altitude: 62.178377 # Commanded vehicle depth:150.842346 # Seafloor depth:-207.009497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.87; MB_Bottom_Detect_Filter_Max_Range = 248.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 75.082671 meters # Minimum depth: 195.141466 meters looking forward 100.000000 meters along route # Maximum depth: 202.807354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.141466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825403; longitude = -121.970209; captureRadius = 10; duration = 75; initialDepth = 140.158871; finalDepth = 145.141466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.167151 # Actual altitude: 56.167151 # Commanded vehicle depth:145.141466 # Seafloor depth:-200.592190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 224.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 75.082671 meters # Minimum depth: 190.158871 meters looking forward 100.000000 meters along route # Maximum depth: 196.930025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.158871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825883; longitude = -121.969574; captureRadius = 10; duration = 75; initialDepth = 140.158871; finalDepth = 140.158871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.450724 # Actual altitude: 55.450724 # Commanded vehicle depth:140.158871 # Seafloor depth:-194.957303 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.18; MB_Bottom_Detect_Filter_Max_Range = 221.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 75.082671 meters # Minimum depth: 190.158871 meters looking forward 100.000000 meters along route # Maximum depth: 196.115455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.158871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826364; longitude = -121.968939; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 117.682818; finalDepth = 140.158871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.798432 # Actual altitude: 54.798432 # Commanded vehicle depth:140.158871 # Seafloor depth:-190.365532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 75.082671 meters # Minimum depth: 167.682818 meters looking forward 100.000000 meters along route # Maximum depth: 191.510175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.682818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826358; longitude = -121.968920; captureRadius = 10; duration = 75; initialDepth = 101.399079; finalDepth = 117.682818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.985935 # Actual altitude: 71.985935 # Commanded vehicle depth:117.682818 # Seafloor depth:-189.668753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 287.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.79; MB_Bottom_Detect_Filter_Max_Range = 287.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 75.082671 meters # Minimum depth: 151.399079 meters looking forward 100.000000 meters along route # Maximum depth: 176.177747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.399079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826108; longitude = -121.968101; captureRadius = 10; duration = 75; initialDepth = 100.811288; finalDepth = 101.399079; 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: 71.985935 # Actual altitude: 71.985935 # Commanded vehicle depth:101.399079 # Seafloor depth:-167.178634 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 287.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.79; MB_Bottom_Detect_Filter_Max_Range = 287.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 75.082671 meters # Minimum depth: 150.811288 meters looking forward 100.000000 meters along route # Maximum depth: 160.365536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.811288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825868; longitude = -121.967313; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 102.371243; finalDepth = 100.811288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.779555 # Actual altitude: 65.779555 # Commanded vehicle depth:100.811288 # Seafloor depth:-151.005352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.31; MB_Bottom_Detect_Filter_Max_Range = 263.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.082671 meters # Minimum depth: 152.371243 meters looking forward 100.000000 meters along route # Maximum depth: 160.101579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.371243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825564; longitude = -121.967743; captureRadius = 10; duration = 75; initialDepth = 108.197152; finalDepth = 102.371243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.748314 # Actual altitude: 51.748314 # Commanded vehicle depth:102.371243 # Seafloor depth:-154.119557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.082671 meters # Minimum depth: 158.197152 meters looking forward 100.000000 meters along route # Maximum depth: 161.794991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.197152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825117; longitude = -121.968375; captureRadius = 10; duration = 75; initialDepth = 109.363661; finalDepth = 108.197152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.748314 # Actual altitude: 51.748314 # Commanded vehicle depth:108.197152 # Seafloor depth:-158.307286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.082671 meters # Minimum depth: 159.363661 meters looking forward 100.000000 meters along route # Maximum depth: 162.677582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.363661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824666; longitude = -121.969012; captureRadius = 10; duration = 75; initialDepth = 109.609280; finalDepth = 109.363661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.419941 # Actual altitude: 50.419941 # Commanded vehicle depth:109.363661 # Seafloor depth:-159.783602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.082671 meters # Minimum depth: 159.609280 meters looking forward 100.000000 meters along route # Maximum depth: 175.048014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.609280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824216; longitude = -121.969649; captureRadius = 10; duration = 75; initialDepth = 120.942906; finalDepth = 109.609280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.079465 # Actual altitude: 53.079465 # Commanded vehicle depth:109.60928 # Seafloor depth:-162.688745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.082671 meters # Minimum depth: 170.942906 meters looking forward 100.000000 meters along route # Maximum depth: 183.575676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.942906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823765; longitude = -121.970286; captureRadius = 10; duration = 75; initialDepth = 132.201532; finalDepth = 120.942906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.468535 # Actual altitude: 54.468535 # Commanded vehicle depth:120.942906 # Seafloor depth:-175.411441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.87; 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 = 217.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.082671 meters # Minimum depth: 182.201532 meters looking forward 100.000000 meters along route # Maximum depth: 188.938879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.201532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823315; longitude = -121.970923; captureRadius = 10; duration = 75; initialDepth = 137.279485; finalDepth = 132.201532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.468535 # Actual altitude: 54.468535 # Commanded vehicle depth:132.201532 # Seafloor depth:-183.688958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.87; 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 = 217.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.082671 meters # Minimum depth: 187.279485 meters looking forward 100.000000 meters along route # Maximum depth: 197.500810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.279485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822864; longitude = -121.971560; captureRadius = 10; duration = 75; initialDepth = 144.328542; finalDepth = 137.279485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.703973 # Actual altitude: 51.703973 # Commanded vehicle depth:137.279485 # Seafloor depth:-188.983458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.082671 meters # Minimum depth: 194.328542 meters looking forward 100.000000 meters along route # Maximum depth: 204.755655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.328542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822413; longitude = -121.972198; captureRadius = 10; duration = 75; initialDepth = 153.590613; finalDepth = 144.328542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.342554 # Actual altitude: 53.342554 # Commanded vehicle depth:144.328542 # Seafloor depth:-197.671096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.082671 meters # Minimum depth: 203.590613 meters looking forward 100.000000 meters along route # Maximum depth: 213.531349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.590613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821963; longitude = -121.972835; captureRadius = 10; duration = 75; initialDepth = 161.664541; finalDepth = 153.590613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.342554 # Actual altitude: 53.342554 # Commanded vehicle depth:153.590613 # Seafloor depth:-205.118490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.082671 meters # Minimum depth: 211.664541 meters looking forward 100.000000 meters along route # Maximum depth: 215.689091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.664541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821512; longitude = -121.973472; captureRadius = 10; duration = 75; initialDepth = 140.004986; finalDepth = 161.664541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.527877 # Actual altitude: 51.527877 # Commanded vehicle depth:161.664541 # Seafloor depth:-213.002531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.082671 meters # Minimum depth: 190.004986 meters looking forward 100.000000 meters along route # Maximum depth: 214.205549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.004986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821045; longitude = -121.974132; captureRadius = 10; duration = 75; initialDepth = 114.556676; finalDepth = 140.004986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.580816 # Actual altitude: 72.580816 # Commanded vehicle depth:140.004986 # Seafloor depth:-212.585802 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 290.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.03; MB_Bottom_Detect_Filter_Max_Range = 290.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 75.082671 meters # Minimum depth: 164.556676 meters looking forward 100.000000 meters along route # Maximum depth: 205.635236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.556676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820596; longitude = -121.974767; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 85.041563; finalDepth = 114.556676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.622134 # Actual altitude: 73.622134 # Commanded vehicle depth:114.556676 # Seafloor depth:-188.178810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.45; MB_Bottom_Detect_Filter_Max_Range = 294.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 75.082671 meters # Minimum depth: 135.041563 meters looking forward 100.000000 meters along route # Maximum depth: 169.737401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.041563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820340; longitude = -121.974290; captureRadius = 10; duration = 75; initialDepth = 84.246687; finalDepth = 85.041563; 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: 78.324971 # Actual altitude: 78.324971 # Commanded vehicle depth:85.041563 # Seafloor depth:-163.366534 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 313.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 75.082671 meters # Minimum depth: 134.246687 meters looking forward 100.000000 meters along route # Maximum depth: 156.605593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.246687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819965; longitude = -121.973590; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 91.400290; finalDepth = 84.246687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.324971 # Actual altitude: 78.324971 # Commanded vehicle depth:84.246687 # Seafloor depth:-135.333164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 313.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.082671 meters # Minimum depth: 141.400290 meters looking forward 100.000000 meters along route # Maximum depth: 164.987741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.400290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820208; longitude = -121.973235; captureRadius = 10; duration = 75; initialDepth = 111.275664; finalDepth = 91.400290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.456947 # Actual altitude: 53.456947 # Commanded vehicle depth:91.40029 # Seafloor depth:-144.857237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.082671 meters # Minimum depth: 161.275664 meters looking forward 100.000000 meters along route # Maximum depth: 166.779733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.275664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820668; longitude = -121.972563; captureRadius = 10; duration = 75; initialDepth = 107.035863; finalDepth = 111.275664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.791226 # Actual altitude: 53.791226 # Commanded vehicle depth:111.275664 # Seafloor depth:-165.066890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.082671 meters # Minimum depth: 157.035863 meters looking forward 100.000000 meters along route # Maximum depth: 164.671972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.035863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821107; longitude = -121.971922; captureRadius = 10; duration = 75; initialDepth = 78.224533; finalDepth = 107.035863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.136467 # Actual altitude: 54.136467 # Commanded vehicle depth:107.035863 # Seafloor depth:-161.172330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.082671 meters # Minimum depth: 128.224533 meters looking forward 100.000000 meters along route # Maximum depth: 160.899866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.224533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821557; longitude = -121.971263; captureRadius = 10; duration = 75; initialDepth = 71.668348; finalDepth = 78.224533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.079966 # Actual altitude: 81.079966 # Commanded vehicle depth:78.224533 # Seafloor depth:-159.304499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 324.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.43; MB_Bottom_Detect_Filter_Max_Range = 324.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.082671 meters # Minimum depth: 121.668348 meters looking forward 100.000000 meters along route # Maximum depth: 137.848039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.668348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822010; longitude = -121.970601; captureRadius = 10; duration = 75; initialDepth = 71.668348; finalDepth = 71.668348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.079966 # Actual altitude: 81.079966 # Commanded vehicle depth:71.668348 # Seafloor depth:-128.099350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 324.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.43; MB_Bottom_Detect_Filter_Max_Range = 324.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.082671 meters # Minimum depth: 121.668348 meters looking forward 100.000000 meters along route # Maximum depth: 126.817067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.668348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822470; longitude = -121.969929; captureRadius = 10; duration = 75; initialDepth = 71.892730; finalDepth = 71.668348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.431002 # Actual altitude: 56.431002 # Commanded vehicle depth:71.668348 # Seafloor depth:-122.459112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.57; MB_Bottom_Detect_Filter_Max_Range = 225.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.082671 meters # Minimum depth: 121.892730 meters looking forward 100.000000 meters along route # Maximum depth: 127.567314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.892730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822909; longitude = -121.969287; captureRadius = 10; duration = 75; initialDepth = 71.647846; finalDepth = 71.892730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.448564 # Actual altitude: 54.448564 # Commanded vehicle depth:71.89273 # Seafloor depth:-126.341294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 217.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.082671 meters # Minimum depth: 121.647846 meters looking forward 100.000000 meters along route # Maximum depth: 128.206575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.647846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823360; longitude = -121.968629; captureRadius = 10; duration = 75; initialDepth = 75.245438; finalDepth = 71.647846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.448564 # Actual altitude: 54.448564 # Commanded vehicle depth:71.647846 # Seafloor depth:-122.309022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 217.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.082671 meters # Minimum depth: 125.245438 meters looking forward 100.000000 meters along route # Maximum depth: 131.248835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.245438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823812; longitude = -121.967967; captureRadius = 10; duration = 75; initialDepth = 78.739645; finalDepth = 75.245438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.661176 # Actual altitude: 50.661176 # Commanded vehicle depth:75.245438 # Seafloor depth:-125.535772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.082671 meters # Minimum depth: 128.739645 meters looking forward 100.000000 meters along route # Maximum depth: 131.795213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.739645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824273; longitude = -121.967295; captureRadius = 10; duration = 75; initialDepth = 74.686612; finalDepth = 78.739645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.901168 # Actual altitude: 52.901168 # Commanded vehicle depth:78.739645 # Seafloor depth:-131.640813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.082671 meters # Minimum depth: 124.686612 meters looking forward 100.000000 meters along route # Maximum depth: 130.092296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.686612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824711; longitude = -121.966653; captureRadius = 10; duration = 75; initialDepth = 71.774809; finalDepth = 74.686612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.978482 # Actual altitude: 53.978482 # Commanded vehicle depth:74.686612 # Seafloor depth:-128.665094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.082671 meters # Minimum depth: 121.774809 meters looking forward 100.000000 meters along route # Maximum depth: 125.947306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.774809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825162; longitude = -121.965995; captureRadius = 10; duration = 75; initialDepth = 71.774809; finalDepth = 71.774809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.978482 # Actual altitude: 53.978482 # Commanded vehicle depth:71.774809 # Seafloor depth:-124.568931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.082671 meters # Minimum depth: 121.774809 meters looking forward 100.000000 meters along route # Maximum depth: 127.270041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.774809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825615; longitude = -121.965333; captureRadius = 10; duration = 75; initialDepth = 75.761204; finalDepth = 71.774809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.794122 # Actual altitude: 52.794122 # Commanded vehicle depth:71.774809 # Seafloor depth:-122.822102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.18; 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 = 211.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.082671 meters # Minimum depth: 125.761204 meters looking forward 100.000000 meters along route # Maximum depth: 127.748729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.761204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826075; longitude = -121.964661; captureRadius = 10; duration = 75; initialDepth = 75.973759; finalDepth = 75.761204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.564595 # Actual altitude: 51.564595 # Commanded vehicle depth:75.761204 # Seafloor depth:-127.325799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.082671 meters # Minimum depth: 125.973759 meters looking forward 100.000000 meters along route # Maximum depth: 130.501379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.973759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826514; longitude = -121.964019; captureRadius = 10; duration = 75; initialDepth = 67.987977; finalDepth = 75.973759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.617509 # Actual altitude: 51.617509 # Commanded vehicle depth:75.973759 # Seafloor depth:-127.591268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.082671 meters # Minimum depth: 117.987977 meters looking forward 100.000000 meters along route # Maximum depth: 127.746282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.987977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826965; longitude = -121.963360; captureRadius = 10; duration = 75; initialDepth = 67.987977; finalDepth = 67.987977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.750755 # Actual altitude: 57.750755 # Commanded vehicle depth:67.987977 # Seafloor depth:-125.738732 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 231.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 75.082671 meters # Minimum depth: 117.987977 meters looking forward 100.000000 meters along route # Maximum depth: 135.148028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.987977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827430; longitude = -121.962680; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 80.174596; finalDepth = 67.987977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.750755 # Actual altitude: 57.750755 # Commanded vehicle depth:67.987977 # Seafloor depth:-119.639975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 231.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.082671 meters # Minimum depth: 130.174596 meters looking forward 100.000000 meters along route # Maximum depth: 153.974630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.174596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827603; longitude = -121.963315; captureRadius = 10; duration = 75; initialDepth = 99.501297; finalDepth = 80.174596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.525631 # Actual altitude: 55.525631 # Commanded vehicle depth:80.174596 # Seafloor depth:-135.700227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 222.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.082671 meters # Minimum depth: 149.501297 meters looking forward 100.000000 meters along route # Maximum depth: 178.499123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.501297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827821; longitude = -121.964117; captureRadius = 10; duration = 75; initialDepth = 122.903594; finalDepth = 99.501297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.525631 # Actual altitude: 55.525631 # Commanded vehicle depth:99.501297 # Seafloor depth:-154.489726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 222.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.082671 meters # Minimum depth: 175.170672 meters looking forward 100.000000 meters along route # Maximum depth: 196.762959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.903594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828046; longitude = -121.964945; captureRadius = 10; duration = 75; initialDepth = 142.613724; finalDepth = 122.903594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7567775999999 # Actual altitude: 55.7567775999999 # Commanded vehicle depth:122.9035944 # Seafloor depth:-178.660372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 223.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.082671 meters # Minimum depth: 192.613724 meters looking forward 100.000000 meters along route # Maximum depth: 222.401985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.613724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828273; longitude = -121.965781; captureRadius = 10; duration = 75; initialDepth = 166.358249; finalDepth = 142.613724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7567775999999 # Actual altitude: 55.7567775999999 # Commanded vehicle depth:142.613724 # Seafloor depth:-196.631527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 223.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.082671 meters # Minimum depth: 217.056678 meters looking forward 100.000000 meters along route # Maximum depth: 242.817123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.358249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828502; longitude = -121.966622; captureRadius = 10; duration = 75; initialDepth = 188.544109; finalDepth = 166.358249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6005256000004 # Actual altitude: 56.6005256000004 # Commanded vehicle depth:166.3582494 # Seafloor depth:-222.958775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 226.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.082671 meters # Minimum depth: 238.544109 meters looking forward 100.000000 meters along route # Maximum depth: 261.375788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.544109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828731; longitude = -121.967463; captureRadius = 10; duration = 75; initialDepth = 206.597647; finalDepth = 188.544109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6005256000004 # Actual altitude: 56.6005256000004 # Commanded vehicle depth:188.544109 # Seafloor depth:-243.860766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 226.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.082671 meters # Minimum depth: 256.597647 meters looking forward 100.000000 meters along route # Maximum depth: 287.117214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.597647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828947; longitude = -121.968260; captureRadius = 10; duration = 75; initialDepth = 229.999617; finalDepth = 206.597647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.316657 # Actual altitude: 55.316657 # Commanded vehicle depth:206.597647 # Seafloor depth:-261.739742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.082671 meters # Minimum depth: 281.746694 meters looking forward 100.000000 meters along route # Maximum depth: 310.959836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.999617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829173; longitude = -121.969088; captureRadius = 10; duration = 75; initialDepth = 253.742256; finalDepth = 229.999617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.1191038999999 # Actual altitude: 57.1191038999999 # Commanded vehicle depth:229.9996171 # Seafloor depth:-287.118721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.85; MB_Bottom_Detect_Filter_Max_Range = 228.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.082671 meters # Minimum depth: 307.102105 meters looking forward 100.000000 meters along route # Maximum depth: 337.638385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 253.742256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829401; longitude = -121.969929; captureRadius = 10; duration = 75; initialDepth = 277.486449; finalDepth = 253.742256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.5501248999998 # Actual altitude: 57.5501248999998 # Commanded vehicle depth:253.7422561 # Seafloor depth:-311.292381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.02; MB_Bottom_Detect_Filter_Max_Range = 230.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.082671 meters # Minimum depth: 331.543620 meters looking forward 100.000000 meters along route # Maximum depth: 358.152856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 277.486449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829630; longitude = -121.970769; captureRadius = 10; duration = 75; initialDepth = 301.230575; finalDepth = 277.486449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.9246856000002 # Actual altitude: 60.9246856000002 # Commanded vehicle depth:277.4864494 # Seafloor depth:-338.411135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.37; MB_Bottom_Detect_Filter_Max_Range = 243.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.082671 meters # Minimum depth: 355.318043 meters looking forward 100.000000 meters along route # Maximum depth: 373.058645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.230575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829858; longitude = -121.971610; captureRadius = 10; duration = 75; initialDepth = 320.243834; finalDepth = 301.230575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.9246856000002 # Actual altitude: 60.9246856000002 # Commanded vehicle depth:301.2305752 # Seafloor depth:-358.676969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.37; MB_Bottom_Detect_Filter_Max_Range = 243.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.082671 meters # Minimum depth: 370.243834 meters looking forward 100.000000 meters along route # Maximum depth: 383.386880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 320.243834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830087; longitude = -121.972451; captureRadius = 10; duration = 75; initialDepth = 332.314896; finalDepth = 320.243834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.4463938 # Actual altitude: 57.4463938 # Commanded vehicle depth:320.243834 # Seafloor depth:-374.002308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 229.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.082671 meters # Minimum depth: 382.314896 meters looking forward 100.000000 meters along route # Maximum depth: 389.196586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.314896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830316; longitude = -121.973291; captureRadius = 10; duration = 75; initialDepth = 334.173182; finalDepth = 332.314896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.758474 # Actual altitude: 53.758474 # Commanded vehicle depth:332.314896 # Seafloor depth:-383.672540 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 215.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 75.082671 meters # Minimum depth: 384.173182 meters looking forward 100.000000 meters along route # Maximum depth: 389.196586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.173182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830539; longitude = -121.974113; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 335.960697; finalDepth = 334.173182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.786054 # Actual altitude: 52.786054 # Commanded vehicle depth:334.173182 # Seafloor depth:-386.959236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 75.082671 meters # Minimum depth: 385.960697 meters looking forward 100.000000 meters along route # Maximum depth: 388.199473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.960697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830485; longitude = -121.974412; captureRadius = 10; duration = 75; initialDepth = 326.932040; finalDepth = 335.960697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.786054 # Actual altitude: 52.786054 # Commanded vehicle depth:335.960697 # Seafloor depth:-386.402763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 75.082671 meters # Minimum depth: 376.932040 meters looking forward 100.000000 meters along route # Maximum depth: 388.199473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.932040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830331; longitude = -121.975253; captureRadius = 10; duration = 75; initialDepth = 313.353688; finalDepth = 326.932040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.454971 # Actual altitude: 60.454971 # Commanded vehicle depth:326.93204 # Seafloor depth:-387.387011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 75.082671 meters # Minimum depth: 363.353688 meters looking forward 100.000000 meters along route # Maximum depth: 379.596658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.353688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830178; longitude = -121.976094; captureRadius = 10; duration = 75; initialDepth = 311.564468; finalDepth = 313.353688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.565769 # Actual altitude: 62.565769 # Commanded vehicle depth:313.353688 # Seafloor depth:-375.919457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 250.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 75.082671 meters # Minimum depth: 361.564468 meters looking forward 100.000000 meters along route # Maximum depth: 365.821347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.564468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830029; longitude = -121.976916; captureRadius = 10; duration = 75; initialDepth = 313.121764; finalDepth = 311.564468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.565769 # Actual altitude: 62.565769 # Commanded vehicle depth:311.564468 # Seafloor depth:-362.335480 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 250.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 75.082671 meters # Minimum depth: 363.121764 meters looking forward 100.000000 meters along route # Maximum depth: 371.218945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.121764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829879; longitude = -121.977738; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 320.922079; finalDepth = 313.121764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.925851 # Actual altitude: 51.925851 # Commanded vehicle depth:313.121764 # Seafloor depth:-365.047615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 75.082671 meters # Minimum depth: 370.922079 meters looking forward 100.000000 meters along route # Maximum depth: 382.896510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 320.922079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829398; longitude = -121.978025; captureRadius = 10; duration = 75; initialDepth = 324.162529; finalDepth = 320.922079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.925851 # Actual altitude: 51.925851 # Commanded vehicle depth:320.922079 # Seafloor depth:-371.417224 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 75.082671 meters # Minimum depth: 374.162529 meters looking forward 100.000000 meters along route # Maximum depth: 382.896510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.162529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828752; longitude = -121.978410; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 307.934762; finalDepth = 324.162529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.354187 # Actual altitude: 58.354187 # Commanded vehicle depth:324.162529 # Seafloor depth:-382.516716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 233.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 75.082671 meters # Minimum depth: 357.934762 meters looking forward 100.000000 meters along route # Maximum depth: 381.209537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 307.934762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828576; longitude = -121.978728; captureRadius = 10; duration = 75; initialDepth = 281.294836; finalDepth = 307.934762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.227392 # Actual altitude: 69.227392 # Commanded vehicle depth:307.934762 # Seafloor depth:-377.162154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.69; MB_Bottom_Detect_Filter_Max_Range = 276.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 75.082671 meters # Minimum depth: 331.294836 meters looking forward 100.000000 meters along route # Maximum depth: 362.933729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.294836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828172; longitude = -121.979456; captureRadius = 10; duration = 75; initialDepth = 262.582353; finalDepth = 281.294836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.246187 # Actual altitude: 76.246187 # Commanded vehicle depth:281.294836 # Seafloor depth:-357.541023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 304.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 304.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 75.082671 meters # Minimum depth: 312.582353 meters looking forward 100.000000 meters along route # Maximum depth: 336.769291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.582353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827769; longitude = -121.980185; captureRadius = 10; duration = 75; initialDepth = 261.266120; finalDepth = 262.582353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.246187 # Actual altitude: 76.246187 # Commanded vehicle depth:262.582353 # Seafloor depth:-330.839956 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 304.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 304.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 75.082671 meters # Minimum depth: 311.266120 meters looking forward 100.000000 meters along route # Maximum depth: 331.294836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.266120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827355; longitude = -121.980932; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 259.193674; finalDepth = 261.266120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.257603 # Actual altitude: 68.257603 # Commanded vehicle depth:261.26612 # Seafloor depth:-312.364143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.30; MB_Bottom_Detect_Filter_Max_Range = 273.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 75.082671 meters # Minimum depth: 309.193674 meters looking forward 100.000000 meters along route # Maximum depth: 317.435327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.193674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827417; longitude = -121.981082; captureRadius = 10; duration = 75; initialDepth = 263.159993; finalDepth = 259.193674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.044866 # Actual altitude: 52.044866 # Commanded vehicle depth:259.193674 # Seafloor depth:-311.238540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 75.082671 meters # Minimum depth: 313.159993 meters looking forward 100.000000 meters along route # Maximum depth: 338.763175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.159993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827743; longitude = -121.981866; captureRadius = 10; duration = 75; initialDepth = 266.912767; finalDepth = 263.159993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.886306 # Actual altitude: 54.886306 # Commanded vehicle depth:263.159993 # Seafloor depth:-318.046299 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 75.082671 meters # Minimum depth: 316.912767 meters looking forward 100.000000 meters along route # Maximum depth: 343.370259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 266.912767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828061; longitude = -121.982632; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 271.927374; finalDepth = 266.912767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.818343 # Actual altitude: 72.818343 # Commanded vehicle depth:266.912767 # Seafloor depth:-339.731110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.13; MB_Bottom_Detect_Filter_Max_Range = 291.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 75.082671 meters # Minimum depth: 338.728688 meters looking forward 100.000000 meters along route # Maximum depth: 365.801985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.927374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828071; longitude = -121.982819; captureRadius = 10; duration = 75; initialDepth = 294.472438; finalDepth = 271.927374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.9748035999996 # Actual altitude: 72.9748035999996 # Commanded vehicle depth:271.9273744 # Seafloor depth:-344.902178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.90; 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 = 291.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 75.082671 meters # Minimum depth: 362.392597 meters looking forward 100.000000 meters along route # Maximum depth: 369.719299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.472438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828118; longitude = -121.983660; captureRadius = 10; duration = 75; initialDepth = 317.017484; finalDepth = 294.472438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.9748035999996 # Actual altitude: 72.9748035999996 # Commanded vehicle depth:294.4724377 # Seafloor depth:-366.903824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.90; 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 = 291.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 75.082671 meters # Minimum depth: 368.260125 meters looking forward 100.000000 meters along route # Maximum depth: 375.048549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 317.017484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828164; longitude = -121.984500; captureRadius = 10; duration = 75; initialDepth = 318.260125; finalDepth = 317.017484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.4313862999996 # Actual altitude: 72.4313862999996 # Commanded vehicle depth:317.0174836 # Seafloor depth:-368.689928 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.97; MB_Bottom_Detect_Filter_Max_Range = 289.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 75.082671 meters # Minimum depth: 368.260125 meters looking forward 100.000000 meters along route # Maximum depth: 392.528991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.260125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828211; longitude = -121.985360; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 331.437303; finalDepth = 318.260125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.343566 # Actual altitude: 52.343566 # Commanded vehicle depth:318.260125 # Seafloor depth:-370.603691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 75.082671 meters # Minimum depth: 383.010145 meters looking forward 100.000000 meters along route # Maximum depth: 416.108788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.437303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827820; longitude = -121.985285; captureRadius = 10; duration = 75; initialDepth = 354.165254; finalDepth = 331.437303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.1258899000001 # Actual altitude: 61.1258899000001 # Commanded vehicle depth:331.4373031 # Seafloor depth:-392.563193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.45; MB_Bottom_Detect_Filter_Max_Range = 244.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 75.082671 meters # Minimum depth: 413.543850 meters looking forward 100.000000 meters along route # Maximum depth: 423.369983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.165254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827145; longitude = -121.985155; captureRadius = 10; duration = 75; initialDepth = 366.734633; finalDepth = 354.165254; 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: 62.5693785 # Actual altitude: 62.5693785 # Commanded vehicle depth:354.1652545 # Seafloor depth:-416.734633 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 250.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 75.082671 meters # Minimum depth: 416.734633 meters looking forward 100.000000 meters along route # Maximum depth: 423.620049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.734633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826454; longitude = -121.985023; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 362.647721; finalDepth = 366.734633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.5693785 # Actual altitude: 62.5693785 # Commanded vehicle depth:366.734633 # Seafloor depth:-423.620049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 250.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 412.647721 meters looking forward 100.000000 meters along route # Maximum depth: 423.620049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.647721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826331; longitude = -121.984837; captureRadius = 10; duration = 75; initialDepth = 362.163086; finalDepth = 362.647721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.100524 # Actual altitude: 57.100524 # Commanded vehicle depth:362.647721 # Seafloor depth:-419.748245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.84; MB_Bottom_Detect_Filter_Max_Range = 228.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 412.163086 meters looking forward 100.000000 meters along route # Maximum depth: 424.760183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.163086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825883; longitude = -121.984157; captureRadius = 10; duration = 75; initialDepth = 371.915094; finalDepth = 362.163086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.100524 # Actual altitude: 57.100524 # Commanded vehicle depth:362.163086 # Seafloor depth:-412.625228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.84; MB_Bottom_Detect_Filter_Max_Range = 228.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 421.915094 meters looking forward 100.000000 meters along route # Maximum depth: 427.744574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.915094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825432; longitude = -121.983474; captureRadius = 10; duration = 75; initialDepth = 375.413381; finalDepth = 371.915094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.166578 # Actual altitude: 53.166578 # Commanded vehicle depth:371.915094 # Seafloor depth:-425.081672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 425.413381 meters looking forward 100.000000 meters along route # Maximum depth: 429.398421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.413381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825000; longitude = -121.982819; captureRadius = 10; duration = 75; initialDepth = 377.753311; finalDepth = 375.413381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.166578 # Actual altitude: 53.166578 # Commanded vehicle depth:375.413381 # Seafloor depth:-426.206892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 427.753311 meters looking forward 100.000000 meters along route # Maximum depth: 439.558928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.753311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824557; longitude = -121.982146; captureRadius = 10; duration = 75; initialDepth = 386.615073; finalDepth = 377.753311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.110965 # Actual altitude: 52.110965 # Commanded vehicle depth:377.753311 # Seafloor depth:-429.864276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 436.615073 meters looking forward 100.000000 meters along route # Maximum depth: 444.773540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.615073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824113; longitude = -121.981474; captureRadius = 10; duration = 75; initialDepth = 393.096662; finalDepth = 386.615073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.062111 # Actual altitude: 53.062111 # Commanded vehicle depth:386.615073 # Seafloor depth:-439.677184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 443.096662 meters looking forward 100.000000 meters along route # Maximum depth: 447.892803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.096662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823670; longitude = -121.980801; captureRadius = 10; duration = 75; initialDepth = 391.610621; finalDepth = 393.096662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.062111 # Actual altitude: 53.062111 # Commanded vehicle depth:393.096662 # Seafloor depth:-444.896574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 441.610621 meters looking forward 100.000000 meters along route # Maximum depth: 447.665232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.610621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823224; longitude = -121.980126; captureRadius = 10; duration = 75; initialDepth = 377.907930; finalDepth = 391.610621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.396136 # Actual altitude: 54.396136 # Commanded vehicle depth:391.610621 # Seafloor depth:-446.006757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 427.907930 meters looking forward 100.000000 meters along route # Maximum depth: 443.681874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.907930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822774; longitude = -121.979443; captureRadius = 10; duration = 75; initialDepth = 349.021997; finalDepth = 377.907930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.607398 # Actual altitude: 63.607398 # Commanded vehicle depth:377.90793 # Seafloor depth:-441.515328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 254.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 399.021997 meters looking forward 100.000000 meters along route # Maximum depth: 432.423265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.021997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822339; longitude = -121.978784; captureRadius = 10; duration = 75; initialDepth = 314.829227; finalDepth = 349.021997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.341216 # Actual altitude: 77.341216 # Commanded vehicle depth:349.021997 # Seafloor depth:-426.363213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.94; MB_Bottom_Detect_Filter_Max_Range = 309.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 364.829227 meters looking forward 100.000000 meters along route # Maximum depth: 404.432291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 314.829227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821895; longitude = -121.978111; captureRadius = 10; duration = 75; initialDepth = 241.393015; finalDepth = 314.829227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.964289 # Actual altitude: 83.964289 # Commanded vehicle depth:314.829227 # Seafloor depth:-398.793516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 335.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.59; MB_Bottom_Detect_Filter_Max_Range = 335.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 291.393015 meters looking forward 100.000000 meters along route # Maximum depth: 375.849168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.393015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821452; longitude = -121.977439; captureRadius = 10; duration = 75; initialDepth = 162.292943; finalDepth = 241.393015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 122.028024 # Actual altitude: 100 # Commanded vehicle depth:241.393015 # Seafloor depth:-363.421039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 212.292943 meters looking forward 100.000000 meters along route # Maximum depth: 312.166644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.292943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821008; longitude = -121.976766; captureRadius = 10; duration = 75; initialDepth = 120.816758; finalDepth = 162.292943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 128.400672 # Actual altitude: 100 # Commanded vehicle depth:162.292943 # Seafloor depth:-290.693615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 170.816758 meters looking forward 100.000000 meters along route # Maximum depth: 231.183075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.816758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820565; longitude = -121.976094; captureRadius = 10; duration = 75; initialDepth = 82.106640; finalDepth = 120.816758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 128.400672 # Actual altitude: 100 # Commanded vehicle depth:120.816758 # Seafloor depth:-230.635887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 132.106640 meters looking forward 100.000000 meters along route # Maximum depth: 186.347081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.106640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820115; longitude = -121.975412; captureRadius = 10; duration = 75; initialDepth = 52.733071; finalDepth = 82.106640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.819129 # Actual altitude: 100 # Commanded vehicle depth:82.10664 # Seafloor depth:-179.047118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 102.733071 meters looking forward 100.000000 meters along route # Maximum depth: 141.143956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.733071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819665; longitude = -121.974729; captureRadius = 10; duration = 75; initialDepth = 48.475267; finalDepth = 52.733071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.940478 # Actual altitude: 96.940478 # Commanded vehicle depth:52.733071 # Seafloor depth:-131.806983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.78; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.082671 meters # Minimum depth: 98.475267 meters looking forward 100.000000 meters along route # Maximum depth: 107.135748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.475267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819214; longitude = -121.974046; captureRadius = 10; duration = 75; initialDepth = 48.035205; finalDepth = 48.475267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.073912 # Actual altitude: 79.073912 # Commanded vehicle depth:48.475267 # Seafloor depth:-102.550149 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.63; MB_Bottom_Detect_Filter_Max_Range = 316.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 75.082671 meters # Minimum depth: 98.035205 meters looking forward 100.000000 meters along route # Maximum depth: 99.774409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.035205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818778; longitude = -121.973385; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 47.817371; finalDepth = 48.035205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.074882 # Actual altitude: 54.074882 # Commanded vehicle depth:48.035205 # Seafloor depth:-98.471142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.082671 meters # Minimum depth: 97.817371 meters looking forward 100.000000 meters along route # Maximum depth: 102.428531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.817371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819136; longitude = -121.972843; captureRadius = 10; duration = 75; initialDepth = 49.308185; finalDepth = 47.817371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.435937 # Actual altitude: 50.435937 # Commanded vehicle depth:47.817371 # Seafloor depth:-97.957827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.082671 meters # Minimum depth: 99.308185 meters looking forward 100.000000 meters along route # Maximum depth: 108.373858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.308185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819580; longitude = -121.972171; captureRadius = 10; duration = 75; initialDepth = 53.779912; finalDepth = 49.308185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.459628 # Actual altitude: 53.459628 # Commanded vehicle depth:49.308185 # Seafloor depth:-102.767813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.082671 meters # Minimum depth: 103.779912 meters looking forward 100.000000 meters along route # Maximum depth: 108.373858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.779912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820025; longitude = -121.971496; captureRadius = 10; duration = 75; initialDepth = 50.678109; finalDepth = 53.779912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.765724 # Actual altitude: 53.765724 # Commanded vehicle depth:53.779912 # Seafloor depth:-107.545636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.082671 meters # Minimum depth: 100.678109 meters looking forward 100.000000 meters along route # Maximum depth: 104.818864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.678109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820476; longitude = -121.970814; captureRadius = 10; duration = 75; initialDepth = 47.462155; finalDepth = 50.678109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.765724 # Actual altitude: 53.765724 # Commanded vehicle depth:50.678109 # Seafloor depth:-103.659258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.082671 meters # Minimum depth: 97.462155 meters looking forward 100.000000 meters along route # Maximum depth: 103.671518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.462155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820926; longitude = -121.970132; captureRadius = 10; duration = 75; initialDepth = 44.905500; finalDepth = 47.462155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.147196 # Actual altitude: 53.147196 # Commanded vehicle depth:47.462155 # Seafloor depth:-100.609351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.082671 meters # Minimum depth: 94.905500 meters looking forward 100.000000 meters along route # Maximum depth: 98.316439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.905500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821356; longitude = -121.969480; captureRadius = 10; duration = 75; initialDepth = 42.386621; finalDepth = 44.905500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.147196 # Actual altitude: 53.147196 # Commanded vehicle depth:44.9055 # Seafloor depth:-97.565774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.082671 meters # Minimum depth: 92.386621 meters looking forward 100.000000 meters along route # Maximum depth: 95.544512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 42.386621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821800; longitude = -121.968808; captureRadius = 10; duration = 75; initialDepth = 41.673997; finalDepth = 42.386621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.843786 # Actual altitude: 52.843786 # Commanded vehicle depth:42.386621 # Seafloor depth:-95.230407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.082671 meters # Minimum depth: 91.673997 meters looking forward 100.000000 meters along route # Maximum depth: 96.205848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.673997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822244; longitude = -121.968135; captureRadius = 10; duration = 75; initialDepth = 44.538214; finalDepth = 41.673997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.843786 # Actual altitude: 52.843786 # Commanded vehicle depth:41.673997 # Seafloor depth:-91.947583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.082671 meters # Minimum depth: 94.538214 meters looking forward 100.000000 meters along route # Maximum depth: 98.780247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.538214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822689; longitude = -121.967463; captureRadius = 10; duration = 75; initialDepth = 47.730065; finalDepth = 44.538214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.195391 # Actual altitude: 51.195391 # Commanded vehicle depth:44.538214 # Seafloor depth:-95.733605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.082671 meters # Minimum depth: 97.730065 meters looking forward 100.000000 meters along route # Maximum depth: 103.674442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.730065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823134; longitude = -121.966788; captureRadius = 10; duration = 75; initialDepth = 52.356540; finalDepth = 47.730065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.195391 # Actual altitude: 51.195391 # Commanded vehicle depth:47.730065 # Seafloor depth:-98.788514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.082671 meters # Minimum depth: 102.356540 meters looking forward 100.000000 meters along route # Maximum depth: 105.983303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.356540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823585; longitude = -121.966105; captureRadius = 10; duration = 75; initialDepth = 54.860506; finalDepth = 52.356540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.179591 # Actual altitude: 51.179591 # Commanded vehicle depth:52.35654 # Seafloor depth:-103.536131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.082671 meters # Minimum depth: 104.860506 meters looking forward 100.000000 meters along route # Maximum depth: 105.983303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.860506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824036; longitude = -121.965423; captureRadius = 10; duration = 75; initialDepth = 53.222501; finalDepth = 54.860506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.179591 # Actual altitude: 51.179591 # Commanded vehicle depth:54.860506 # Seafloor depth:-105.875705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.082671 meters # Minimum depth: 103.222501 meters looking forward 100.000000 meters along route # Maximum depth: 105.373116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.222501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824465; longitude = -121.964773; captureRadius = 10; duration = 75; initialDepth = 52.124759; finalDepth = 53.222501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.648903 # Actual altitude: 51.648903 # Commanded vehicle depth:53.222501 # Seafloor depth:-104.871404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.082671 meters # Minimum depth: 102.124759 meters looking forward 100.000000 meters along route # Maximum depth: 104.222160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.124759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824909; longitude = -121.964100; captureRadius = 10; duration = 75; initialDepth = 50.741483; finalDepth = 52.124759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.648903 # Actual altitude: 51.648903 # Commanded vehicle depth:52.124759 # Seafloor depth:-103.383622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.082671 meters # Minimum depth: 100.741483 meters looking forward 100.000000 meters along route # Maximum depth: 102.976120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.741483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825353; longitude = -121.963428; captureRadius = 10; duration = 75; initialDepth = 49.542452; finalDepth = 50.741483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.486957 # Actual altitude: 51.486957 # Commanded vehicle depth:50.741483 # Seafloor depth:-102.228440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 75.082671 meters # Minimum depth: 99.542452 meters looking forward 100.000000 meters along route # Maximum depth: 102.007928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.542452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825797; longitude = -121.962755; captureRadius = 10; duration = 75; initialDepth = 49.341148; finalDepth = 49.542452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.486957 # Actual altitude: 51.486957 # Commanded vehicle depth:49.542452 # Seafloor depth:-100.726956 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 75.082671 meters # Minimum depth: 99.341148 meters looking forward 100.000000 meters along route # Maximum depth: 109.789707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.341148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826229; longitude = -121.962101; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 56.085330; finalDepth = 49.341148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.184504 # Actual altitude: 51.184504 # Commanded vehicle depth:49.341148 # Seafloor depth:-99.341148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.082671 meters # Minimum depth: 106.085330 meters looking forward 100.000000 meters along route # Maximum depth: 125.928084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.085330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826424; longitude = -121.962794; captureRadius = 10; duration = 75; initialDepth = 71.626776; finalDepth = 56.085330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.915515 # Actual altitude: 53.915515 # Commanded vehicle depth:56.08533 # Seafloor depth:-110.000845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.082671 meters # Minimum depth: 121.626776 meters looking forward 100.000000 meters along route # Maximum depth: 142.997928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.626776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826649; longitude = -121.963596; captureRadius = 10; duration = 75; initialDepth = 87.264291; finalDepth = 71.626776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.311719 # Actual altitude: 54.311719 # Commanded vehicle depth:71.626776 # Seafloor depth:-125.938495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.082671 meters # Minimum depth: 137.264291 meters looking forward 100.000000 meters along route # Maximum depth: 161.367955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 87.264291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826874; longitude = -121.964396; captureRadius = 10; duration = 75; initialDepth = 105.867821; finalDepth = 87.264291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.72342 # Actual altitude: 55.72342 # Commanded vehicle depth:87.264291 # Seafloor depth:-142.987711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.29; MB_Bottom_Detect_Filter_Max_Range = 222.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.082671 meters # Minimum depth: 155.867821 meters looking forward 100.000000 meters along route # Maximum depth: 189.223563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.867821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827100; longitude = -121.965197; captureRadius = 10; duration = 75; initialDepth = 128.782305; finalDepth = 105.867821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.055693 # Actual altitude: 56.055693 # Commanded vehicle depth:105.867821 # Seafloor depth:-161.923514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.42; MB_Bottom_Detect_Filter_Max_Range = 224.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.082671 meters # Minimum depth: 182.223299 meters looking forward 100.000000 meters along route # Maximum depth: 206.934339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 128.782305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827327; longitude = -121.966006; captureRadius = 10; duration = 75; initialDepth = 151.287361; finalDepth = 128.782305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.6886641000001 # Actual altitude: 60.6886641000001 # Commanded vehicle depth:128.7823049 # Seafloor depth:-189.470969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.28; MB_Bottom_Detect_Filter_Max_Range = 242.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.082671 meters # Minimum depth: 203.529145 meters looking forward 100.000000 meters along route # Maximum depth: 220.081865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.287361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827550; longitude = -121.966800; captureRadius = 10; duration = 75; initialDepth = 166.305157; finalDepth = 151.287361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.6886641000001 # Actual altitude: 60.6886641000001 # Commanded vehicle depth:151.2873611 # Seafloor depth:-206.941705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.28; MB_Bottom_Detect_Filter_Max_Range = 242.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.082671 meters # Minimum depth: 216.305157 meters looking forward 100.000000 meters along route # Maximum depth: 237.019263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.305157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827776; longitude = -121.967601; captureRadius = 10; duration = 75; initialDepth = 181.356382; finalDepth = 166.305157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6543439000003 # Actual altitude: 55.6543439000003 # Commanded vehicle depth:166.305157 # Seafloor depth:-220.277730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.082671 meters # Minimum depth: 231.356382 meters looking forward 100.000000 meters along route # Maximum depth: 266.269846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 181.356382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828001; longitude = -121.968402; captureRadius = 10; duration = 75; initialDepth = 204.065932; finalDepth = 181.356382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.286338 # Actual altitude: 57.286338 # Commanded vehicle depth:181.356382 # Seafloor depth:-238.642720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.082671 meters # Minimum depth: 258.844446 meters looking forward 100.000000 meters along route # Maximum depth: 295.281110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.065932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828226; longitude = -121.969203; captureRadius = 10; duration = 75; initialDepth = 226.775419; finalDepth = 204.065932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.3143203 # Actual altitude: 62.3143203 # Commanded vehicle depth:204.0659317 # Seafloor depth:-266.380252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.93; MB_Bottom_Detect_Filter_Max_Range = 249.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.082671 meters # Minimum depth: 286.787148 meters looking forward 100.000000 meters along route # Maximum depth: 328.539790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 226.775419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828452; longitude = -121.970004; captureRadius = 10; duration = 75; initialDepth = 249.484843; finalDepth = 226.775419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3823692999999 # Actual altitude: 69.3823692999999 # Commanded vehicle depth:226.7754187 # Seafloor depth:-296.157788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.75; MB_Bottom_Detect_Filter_Max_Range = 277.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.082671 meters # Minimum depth: 320.725614 meters looking forward 100.000000 meters along route # Maximum depth: 349.794090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 249.484843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828677; longitude = -121.970805; captureRadius = 10; duration = 75; initialDepth = 272.293203; finalDepth = 249.484843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.5726562999999 # Actual altitude: 80.5726562999999 # Commanded vehicle depth:249.4848427 # Seafloor depth:-330.057499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.23; MB_Bottom_Detect_Filter_Max_Range = 322.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.082671 meters # Minimum depth: 345.012670 meters looking forward 100.000000 meters along route # Maximum depth: 362.527471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 272.293203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828903; longitude = -121.971610; captureRadius = 10; duration = 75; initialDepth = 294.903502; finalDepth = 272.293203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.5726562999999 # Actual altitude: 80.5726562999999 # Commanded vehicle depth:272.2932025 # Seafloor depth:-349.842118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.23; MB_Bottom_Detect_Filter_Max_Range = 322.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.082671 meters # Minimum depth: 358.812843 meters looking forward 100.000000 meters along route # Maximum depth: 385.300754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.903502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829128; longitude = -121.972408; captureRadius = 10; duration = 75; initialDepth = 318.362364; finalDepth = 294.903502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.5489154999998 # Actual altitude: 77.5489154999998 # Commanded vehicle depth:294.9035017 # Seafloor depth:-362.780797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 310.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.02; MB_Bottom_Detect_Filter_Max_Range = 310.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.082671 meters # Minimum depth: 379.438693 meters looking forward 100.000000 meters along route # Maximum depth: 397.224462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.362364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829360; longitude = -121.973235; captureRadius = 10; duration = 75; initialDepth = 342.191140; finalDepth = 318.362364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8772953 # Actual altitude: 67.8772953 # Commanded vehicle depth:318.3623644 # Seafloor depth:-385.998011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.15; MB_Bottom_Detect_Filter_Max_Range = 271.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.082671 meters # Minimum depth: 395.617860 meters looking forward 100.000000 meters along route # Maximum depth: 398.924967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.191140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829597; longitude = -121.974076; captureRadius = 10; duration = 75; initialDepth = 338.113555; finalDepth = 342.191140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6356466 # Actual altitude: 67.6356466 # Commanded vehicle depth:342.1911397 # Seafloor depth:-397.819399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.05; MB_Bottom_Detect_Filter_Max_Range = 270.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.082671 meters # Minimum depth: 388.113555 meters looking forward 100.000000 meters along route # Maximum depth: 398.478242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.113555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829833; longitude = -121.974917; captureRadius = 10; duration = 75; initialDepth = 337.522408; finalDepth = 338.113555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.332954 # Actual altitude: 58.332954 # Commanded vehicle depth:338.113555 # Seafloor depth:-396.446509 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.33; MB_Bottom_Detect_Filter_Max_Range = 233.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 75.082671 meters # Minimum depth: 387.522408 meters looking forward 100.000000 meters along route # Maximum depth: 398.478242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.522408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830059; longitude = -121.975720; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 337.522408; finalDepth = 337.522408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.332954 # Actual altitude: 58.332954 # Commanded vehicle depth:337.522408 # Seafloor depth:-387.522408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.33; MB_Bottom_Detect_Filter_Max_Range = 233.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 75.082671 meters # Minimum depth: 387.522408 meters looking forward 100.000000 meters along route # Maximum depth: 393.166963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.522408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829939; longitude = -121.975843; captureRadius = 10; duration = 75; initialDepth = 342.741162; finalDepth = 337.522408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.691566 # Actual altitude: 50.691566 # Commanded vehicle depth:337.522408 # Seafloor depth:-388.213974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 75.082671 meters # Minimum depth: 392.741162 meters looking forward 100.000000 meters along route # Maximum depth: 400.123593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.741162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829398; longitude = -121.976395; captureRadius = 10; duration = 75; initialDepth = 348.310110; finalDepth = 342.741162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.691566 # Actual altitude: 50.691566 # Commanded vehicle depth:342.741162 # Seafloor depth:-393.413398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 75.082671 meters # Minimum depth: 398.310110 meters looking forward 100.000000 meters along route # Maximum depth: 400.280844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.310110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828857; longitude = -121.976948; captureRadius = 10; duration = 75; initialDepth = 331.557506; finalDepth = 348.310110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.970734 # Actual altitude: 51.970734 # Commanded vehicle depth:348.31011 # Seafloor depth:-400.280844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 75.082671 meters # Minimum depth: 381.557506 meters looking forward 100.000000 meters along route # Maximum depth: 400.070534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.557506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828316; longitude = -121.977500; captureRadius = 10; duration = 75; initialDepth = 319.538465; finalDepth = 331.557506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.732717 # Actual altitude: 66.732717 # Commanded vehicle depth:331.557506 # Seafloor depth:-398.290223 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.69; MB_Bottom_Detect_Filter_Max_Range = 266.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 75.082671 meters # Minimum depth: 369.538465 meters looking forward 100.000000 meters along route # Maximum depth: 395.018230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 319.538465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827791; longitude = -121.978037; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 309.859760; finalDepth = 319.538465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.732717 # Actual altitude: 66.732717 # Commanded vehicle depth:319.538465 # Seafloor depth:-380.339844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.69; MB_Bottom_Detect_Filter_Max_Range = 266.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 75.082671 meters # Minimum depth: 359.859760 meters looking forward 100.000000 meters along route # Maximum depth: 373.329194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.859760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827569; longitude = -121.978448; captureRadius = 10; duration = 75; initialDepth = 297.333015; finalDepth = 309.859760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.8013790000001 # Actual altitude: 60.8013790000001 # Commanded vehicle depth:309.85976 # Seafloor depth:-368.005633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.32; MB_Bottom_Detect_Filter_Max_Range = 243.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 75.082671 meters # Minimum depth: 347.333015 meters looking forward 100.000000 meters along route # Maximum depth: 361.701448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 297.333015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827174; longitude = -121.979176; captureRadius = 10; duration = 75; initialDepth = 288.285880; finalDepth = 297.333015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.106027 # Actual altitude: 62.106027 # Commanded vehicle depth:297.333015 # Seafloor depth:-359.439042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.84; MB_Bottom_Detect_Filter_Max_Range = 248.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 75.082671 meters # Minimum depth: 338.285880 meters looking forward 100.000000 meters along route # Maximum depth: 350.685282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.285880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826779; longitude = -121.979905; captureRadius = 10; duration = 75; initialDepth = 278.924877; finalDepth = 288.285880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.106027 # Actual altitude: 62.106027 # Commanded vehicle depth:288.28588 # Seafloor depth:-347.436459 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.84; MB_Bottom_Detect_Filter_Max_Range = 248.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 75.082671 meters # Minimum depth: 328.924877 meters looking forward 100.000000 meters along route # Maximum depth: 349.890031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.924877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826394; longitude = -121.980615; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 263.147919; finalDepth = 278.924877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.150579 # Actual altitude: 59.150579 # Commanded vehicle depth:278.924877 # Seafloor depth:-337.201042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 236.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.082671 meters # Minimum depth: 313.147919 meters looking forward 100.000000 meters along route # Maximum depth: 337.201042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.147919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826469; longitude = -121.980829; captureRadius = 10; duration = 75; initialDepth = 260.931296; finalDepth = 263.147919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.563464 # Actual altitude: 64.563464 # Commanded vehicle depth:263.147919 # Seafloor depth:-327.711383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 258.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.082671 meters # Minimum depth: 310.931296 meters looking forward 100.000000 meters along route # Maximum depth: 316.344761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.931296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826739; longitude = -121.981603; captureRadius = 10; duration = 75; initialDepth = 263.673162; finalDepth = 260.931296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.563464 # Actual altitude: 64.563464 # Commanded vehicle depth:260.931296 # Seafloor depth:-313.039778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 258.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.082671 meters # Minimum depth: 313.673162 meters looking forward 100.000000 meters along route # Maximum depth: 344.691109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.673162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827010; longitude = -121.982376; captureRadius = 10; duration = 75; initialDepth = 273.247184; finalDepth = 263.673162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.797423 # Actual altitude: 52.797423 # Commanded vehicle depth:263.673162 # Seafloor depth:-316.470585 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.19; 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 = 211.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 75.082671 meters # Minimum depth: 323.247184 meters looking forward 100.000000 meters along route # Maximum depth: 369.596950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 273.247184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827295; longitude = -121.983193; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 287.357449; finalDepth = 273.247184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.361916 # Actual altitude: 73.361916 # Commanded vehicle depth:273.247184 # Seafloor depth:-346.609100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 293.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.34; MB_Bottom_Detect_Filter_Max_Range = 293.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 75.082671 meters # Minimum depth: 360.067930 meters looking forward 100.000000 meters along route # Maximum depth: 400.776910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.357449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827351; longitude = -121.983716; captureRadius = 10; duration = 75; initialDepth = 310.051255; finalDepth = 287.357449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6876652 # Actual altitude: 84.6876652 # Commanded vehicle depth:287.3574488 # Seafloor depth:-372.045114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 338.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.88; MB_Bottom_Detect_Filter_Max_Range = 338.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 75.082671 meters # Minimum depth: 397.530970 meters looking forward 100.000000 meters along route # Maximum depth: 405.950971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 310.051255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827442; longitude = -121.984556; captureRadius = 10; duration = 75; initialDepth = 330.851707; finalDepth = 310.051255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.7905065999998 # Actual altitude: 90.7905065999998 # Commanded vehicle depth:310.0512554 # Seafloor depth:-400.841762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.32; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 75.082671 meters # Minimum depth: 380.851707 meters looking forward 100.000000 meters along route # Maximum depth: 405.950971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.851707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827532; longitude = -121.985397; captureRadius = 10; duration = 75; initialDepth = 330.570487; finalDepth = 330.851707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.7905065999998 # Actual altitude: 90.7905065999998 # Commanded vehicle depth:330.851707 # Seafloor depth:-405.590914 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.32; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 75.082671 meters # Minimum depth: 380.570487 meters looking forward 100.000000 meters along route # Maximum depth: 403.532554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.570487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827625; longitude = -121.986256; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 331.142707; finalDepth = 330.570487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.739207 # Actual altitude: 74.739207 # Commanded vehicle depth:330.570487 # Seafloor depth:-380.720436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 298.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.90; MB_Bottom_Detect_Filter_Max_Range = 298.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.082671 meters # Minimum depth: 381.142707 meters looking forward 100.000000 meters along route # Maximum depth: 396.780018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.142707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827513; longitude = -121.986574; captureRadius = 10; duration = 75; initialDepth = 344.505310; finalDepth = 331.142707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.088114 # Actual altitude: 56.088114 # Commanded vehicle depth:331.142707 # Seafloor depth:-387.230821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.44; MB_Bottom_Detect_Filter_Max_Range = 224.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.082671 meters # Minimum depth: 394.505310 meters looking forward 100.000000 meters along route # Maximum depth: 404.931836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.505310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827235; longitude = -121.987366; captureRadius = 10; duration = 75; initialDepth = 352.515320; finalDepth = 344.505310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.088114 # Actual altitude: 56.088114 # Commanded vehicle depth:344.50531 # Seafloor depth:-396.786424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.44; MB_Bottom_Detect_Filter_Max_Range = 224.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.082671 meters # Minimum depth: 402.515320 meters looking forward 100.000000 meters along route # Maximum depth: 414.850123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.515320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826962; longitude = -121.988143; captureRadius = 10; duration = 75; initialDepth = 361.212402; finalDepth = 352.515320; 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: 52.568563 # Actual altitude: 52.568563 # Commanded vehicle depth:352.51532 # Seafloor depth:-405.083883 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 75.082671 meters # Minimum depth: 411.212402 meters looking forward 100.000000 meters along route # Maximum depth: 420.284151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.212402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826679; longitude = -121.988947; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 366.416993; finalDepth = 361.212402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.568563 # Actual altitude: 52.568563 # Commanded vehicle depth:361.212402 # Seafloor depth:-411.212402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.082671 meters # Minimum depth: 416.416993 meters looking forward 100.000000 meters along route # Maximum depth: 434.090690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.416993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826469; longitude = -121.988560; captureRadius = 10; duration = 75; initialDepth = 382.977113; finalDepth = 366.416993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.581579 # Actual altitude: 54.581579 # Commanded vehicle depth:366.416993 # Seafloor depth:-420.998572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.082671 meters # Minimum depth: 432.977113 meters looking forward 100.000000 meters along route # Maximum depth: 443.365340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.977113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826090; longitude = -121.987863; captureRadius = 10; duration = 75; initialDepth = 390.213807; finalDepth = 382.977113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.581579 # Actual altitude: 54.581579 # Commanded vehicle depth:382.977113 # Seafloor depth:-434.335812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.082671 meters # Minimum depth: 440.213807 meters looking forward 100.000000 meters along route # Maximum depth: 451.246507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.213807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825694; longitude = -121.987134; captureRadius = 10; duration = 75; initialDepth = 397.429438; finalDepth = 390.213807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.232945 # Actual altitude: 53.232945 # Commanded vehicle depth:390.213807 # Seafloor depth:-443.446752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.082671 meters # Minimum depth: 447.429438 meters looking forward 100.000000 meters along route # Maximum depth: 453.022104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.429438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825297; longitude = -121.986403; captureRadius = 10; duration = 75; initialDepth = 388.815529; finalDepth = 397.429438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.843257 # Actual altitude: 53.843257 # Commanded vehicle depth:397.429438 # Seafloor depth:-451.272695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.082671 meters # Minimum depth: 438.815529 meters looking forward 100.000000 meters along route # Maximum depth: 450.342551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.815529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824892; longitude = -121.985657; captureRadius = 10; duration = 75; initialDepth = 388.815529; finalDepth = 388.815529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.231169 # Actual altitude: 58.231169 # Commanded vehicle depth:388.815529 # Seafloor depth:-447.046698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.29; MB_Bottom_Detect_Filter_Max_Range = 232.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.082671 meters # Minimum depth: 438.815529 meters looking forward 100.000000 meters along route # Maximum depth: 450.135810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.815529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824507; longitude = -121.984949; captureRadius = 10; duration = 75; initialDepth = 398.576450; finalDepth = 388.815529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.231169 # Actual altitude: 58.231169 # Commanded vehicle depth:388.815529 # Seafloor depth:-439.971793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.29; MB_Bottom_Detect_Filter_Max_Range = 232.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.082671 meters # Minimum depth: 448.576450 meters looking forward 100.000000 meters along route # Maximum depth: 453.371710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.576450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824126; longitude = -121.984247; captureRadius = 10; duration = 75; initialDepth = 401.855953; finalDepth = 398.576450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.83122 # Actual altitude: 51.83122 # Commanded vehicle depth:398.57645 # Seafloor depth:-450.407670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.082671 meters # Minimum depth: 451.855953 meters looking forward 100.000000 meters along route # Maximum depth: 453.786728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.855953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823746; longitude = -121.983548; captureRadius = 10; duration = 75; initialDepth = 401.855953; finalDepth = 401.855953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.83122 # Actual altitude: 51.83122 # Commanded vehicle depth:401.855953 # Seafloor depth:-453.633454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.082671 meters # Minimum depth: 451.855953 meters looking forward 100.000000 meters along route # Maximum depth: 457.341058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.855953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823350; longitude = -121.982819; captureRadius = 10; duration = 75; initialDepth = 405.855738; finalDepth = 401.855953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.777501 # Actual altitude: 51.777501 # Commanded vehicle depth:401.855953 # Seafloor depth:-452.887769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.082671 meters # Minimum depth: 455.855738 meters looking forward 100.000000 meters along route # Maximum depth: 458.266417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.855738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822954; longitude = -121.982090; captureRadius = 10; duration = 75; initialDepth = 399.118466; finalDepth = 405.855738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.491389 # Actual altitude: 51.491389 # Commanded vehicle depth:405.855738 # Seafloor depth:-457.347127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.082671 meters # Minimum depth: 449.118466 meters looking forward 100.000000 meters along route # Maximum depth: 456.253697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.118466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822559; longitude = -121.981362; captureRadius = 10; duration = 75; initialDepth = 390.172342; finalDepth = 399.118466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.305667 # Actual altitude: 56.305667 # Commanded vehicle depth:399.118466 # Seafloor depth:-455.424133 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 75.082671 meters # Minimum depth: 440.172342 meters looking forward 100.000000 meters along route # Maximum depth: 452.403594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.172342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822173; longitude = -121.980652; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 363.189096; finalDepth = 390.172342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.613577 # Actual altitude: 58.613577 # Commanded vehicle depth:390.172342 # Seafloor depth:-448.785919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.45; MB_Bottom_Detect_Filter_Max_Range = 234.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 75.082671 meters # Minimum depth: 413.189096 meters looking forward 100.000000 meters along route # Maximum depth: 443.940961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.189096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821862; longitude = -121.980185; captureRadius = 10; duration = 75; initialDepth = 330.458709; finalDepth = 363.189096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.524574 # Actual altitude: 76.524574 # Commanded vehicle depth:363.189096 # Seafloor depth:-439.713670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.61; MB_Bottom_Detect_Filter_Max_Range = 306.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 75.082671 meters # Minimum depth: 380.458709 meters looking forward 100.000000 meters along route # Maximum depth: 418.178214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.458709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821414; longitude = -121.979512; captureRadius = 10; duration = 75; initialDepth = 265.616546; finalDepth = 330.458709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.243347 # Actual altitude: 82.243347 # Commanded vehicle depth:330.458709 # Seafloor depth:-412.702056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 328.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.90; MB_Bottom_Detect_Filter_Max_Range = 328.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 75.082671 meters # Minimum depth: 315.616546 meters looking forward 100.000000 meters along route # Maximum depth: 389.698822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.616546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820966; longitude = -121.978840; captureRadius = 10; duration = 75; initialDepth = 242.191839; finalDepth = 265.616546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.325602 # Actual altitude: 100 # Commanded vehicle depth:265.616546 # Seafloor depth:-379.942148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 75.082671 meters # Minimum depth: 292.191839 meters looking forward 100.000000 meters along route # Maximum depth: 340.519871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.191839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820518; longitude = -121.978167; captureRadius = 10; duration = 75; initialDepth = 180.338536; finalDepth = 242.191839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.325602 # Actual altitude: 100 # Commanded vehicle depth:242.191839 # Seafloor depth:-315.724552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 75.082671 meters # Minimum depth: 230.338536 meters looking forward 100.000000 meters along route # Maximum depth: 299.183163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.338536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820070; longitude = -121.977494; captureRadius = 10; duration = 75; initialDepth = 112.028014; finalDepth = 180.338536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.781144 # Actual altitude: 100 # Commanded vehicle depth:180.338536 # Seafloor depth:-292.119680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 75.082671 meters # Minimum depth: 162.028014 meters looking forward 100.000000 meters along route # Maximum depth: 250.032536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.028014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819619; longitude = -121.976817; captureRadius = 10; duration = 75; initialDepth = 52.177435; finalDepth = 112.028014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 129.374702 # Actual altitude: 100 # Commanded vehicle depth:112.028014 # Seafloor depth:-241.402716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 75.082671 meters # Minimum depth: 102.177435 meters looking forward 100.000000 meters along route # Maximum depth: 167.473847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.177435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819169; longitude = -121.976140; captureRadius = 10; duration = 75; initialDepth = 49.083039; finalDepth = 52.177435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 129.374702 # Actual altitude: 100 # Commanded vehicle depth:52.177435 # Seafloor depth:-163.317523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 75.082671 meters # Minimum depth: 99.083039 meters looking forward 100.000000 meters along route # Maximum depth: 104.729442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.083039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818718; longitude = -121.975464; captureRadius = 10; duration = 75; initialDepth = 47.483742; finalDepth = 49.083039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.140088 # Actual altitude: 100 # Commanded vehicle depth:49.083039 # Seafloor depth:-102.059512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 75.082671 meters # Minimum depth: 97.483742 meters looking forward 100.000000 meters along route # Maximum depth: 99.830736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.483742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818268; longitude = -121.974787; captureRadius = 10; duration = 75; initialDepth = 46.554069; finalDepth = 47.483742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.976473 # Actual altitude: 52.976473 # Commanded vehicle depth:47.483742 # Seafloor depth:-99.098514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 75.082671 meters # Minimum depth: 96.554069 meters looking forward 100.000000 meters along route # Maximum depth: 97.714592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.554069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817832; longitude = -121.974132; captureRadius = 10; duration = 75; initialDepth = 46.551089; finalDepth = 46.554069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.614772 # Actual altitude: 51.614772 # Commanded vehicle depth:46.554069 # Seafloor depth:-97.424066 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 75.082671 meters # Minimum depth: 96.551089 meters looking forward 100.000000 meters along route # Maximum depth: 97.603432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.551089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817396; longitude = -121.973478; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 46.336289; finalDepth = 46.551089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.869997 # Actual altitude: 50.869997 # Commanded vehicle depth:46.551089 # Seafloor depth:-96.659285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 96.336289 meters looking forward 100.000000 meters along route # Maximum depth: 97.139036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.336289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817442; longitude = -121.973403; captureRadius = 10; duration = 75; initialDepth = 46.243700; finalDepth = 46.336289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.189109 # Actual altitude: 50.189109 # Commanded vehicle depth:46.336289 # Seafloor depth:-96.525398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.76; 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 = 200.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 96.243700 meters looking forward 100.000000 meters along route # Maximum depth: 97.461217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.243700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817862; longitude = -121.972726; captureRadius = 10; duration = 75; initialDepth = 45.537739; finalDepth = 46.243700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.36956 # Actual altitude: 50.36956 # Commanded vehicle depth:46.2437 # Seafloor depth:-96.613260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 95.537739 meters looking forward 100.000000 meters along route # Maximum depth: 97.267914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.537739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818275; longitude = -121.972058; captureRadius = 10; duration = 75; initialDepth = 44.770197; finalDepth = 45.537739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.952648 # Actual altitude: 50.952648 # Commanded vehicle depth:45.537739 # Seafloor depth:-96.490387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 94.770197 meters looking forward 100.000000 meters along route # Maximum depth: 96.103041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.770197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818692; longitude = -121.971386; captureRadius = 10; duration = 75; initialDepth = 43.252107; finalDepth = 44.770197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.952648 # Actual altitude: 50.952648 # Commanded vehicle depth:44.770197 # Seafloor depth:-95.716986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 93.252107 meters looking forward 100.000000 meters along route # Maximum depth: 95.636041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 43.252107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819108; longitude = -121.970713; captureRadius = 10; duration = 75; initialDepth = 42.381639; finalDepth = 43.252107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.458308 # Actual altitude: 51.458308 # Commanded vehicle depth:43.252107 # Seafloor depth:-94.710415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.83; 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 = 205.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 92.381639 meters looking forward 100.000000 meters along route # Maximum depth: 94.107809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 42.381639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819525; longitude = -121.970041; captureRadius = 10; duration = 75; initialDepth = 41.185129; finalDepth = 42.381639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.458308 # Actual altitude: 51.458308 # Commanded vehicle depth:42.381639 # Seafloor depth:-93.543153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.83; 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 = 205.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 91.185129 meters looking forward 100.000000 meters along route # Maximum depth: 92.704078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.185129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819942; longitude = -121.969368; captureRadius = 10; duration = 75; initialDepth = 40.434031; finalDepth = 41.185129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.45634 # Actual altitude: 51.45634 # Commanded vehicle depth:41.185129 # Seafloor depth:-92.641469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.83; 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 = 205.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 90.434031 meters looking forward 100.000000 meters along route # Maximum depth: 91.413655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 40.434031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820358; longitude = -121.968696; captureRadius = 10; duration = 75; initialDepth = 39.195830; finalDepth = 40.434031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.45634 # Actual altitude: 51.45634 # Commanded vehicle depth:40.434031 # Seafloor depth:-91.203527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.83; 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 = 205.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 89.195830 meters looking forward 100.000000 meters along route # Maximum depth: 90.663087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 39.195830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820775; longitude = -121.968023; captureRadius = 10; duration = 75; initialDepth = 39.385272; finalDepth = 39.195830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.095585 # Actual altitude: 51.095585 # Commanded vehicle depth:39.19583 # Seafloor depth:-90.291415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 89.385272 meters looking forward 100.000000 meters along route # Maximum depth: 91.424931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 39.385272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821191; longitude = -121.967351; captureRadius = 10; duration = 75; initialDepth = 40.531181; finalDepth = 39.385272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.095585 # Actual altitude: 51.095585 # Commanded vehicle depth:39.385272 # Seafloor depth:-89.388669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 90.531181 meters looking forward 100.000000 meters along route # Maximum depth: 91.677974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 40.531181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821608; longitude = -121.966678; captureRadius = 10; duration = 75; initialDepth = 41.219004; finalDepth = 40.531181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.769618 # Actual altitude: 50.769618 # Commanded vehicle depth:40.531181 # Seafloor depth:-91.300799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 91.219004 meters looking forward 100.000000 meters along route # Maximum depth: 92.047390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.219004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822024; longitude = -121.966006; captureRadius = 10; duration = 75; initialDepth = 40.857120; finalDepth = 41.219004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.769618 # Actual altitude: 50.769618 # Commanded vehicle depth:41.219004 # Seafloor depth:-91.718994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 90.857120 meters looking forward 100.000000 meters along route # Maximum depth: 91.790238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 40.857120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822441; longitude = -121.965333; captureRadius = 10; duration = 75; initialDepth = 41.086217; finalDepth = 40.857120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.551395 # Actual altitude: 50.551395 # Commanded vehicle depth:40.85712 # Seafloor depth:-91.408515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 91.086217 meters looking forward 100.000000 meters along route # Maximum depth: 91.909882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.086217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822857; longitude = -121.964661; captureRadius = 10; duration = 75; initialDepth = 40.523554; finalDepth = 41.086217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.79868 # Actual altitude: 50.79868 # Commanded vehicle depth:41.086217 # Seafloor depth:-91.884897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 90.523554 meters looking forward 100.000000 meters along route # Maximum depth: 92.352527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 40.523554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823274; longitude = -121.963988; captureRadius = 10; duration = 75; initialDepth = 40.523554; finalDepth = 40.523554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.808671 # Actual altitude: 50.808671 # Commanded vehicle depth:40.523554 # Seafloor depth:-91.332225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 90.523554 meters looking forward 100.000000 meters along route # Maximum depth: 92.352527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 40.523554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823691; longitude = -121.963315; captureRadius = 10; duration = 75; initialDepth = 41.455333; finalDepth = 40.523554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.358344 # Actual altitude: 51.358344 # Commanded vehicle depth:40.523554 # Seafloor depth:-91.881898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 91.455333 meters looking forward 100.000000 meters along route # Maximum depth: 92.162715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.455333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824107; longitude = -121.962643; captureRadius = 10; duration = 75; initialDepth = 41.168785; finalDepth = 41.455333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.358344 # Actual altitude: 51.358344 # Commanded vehicle depth:41.455333 # Seafloor depth:-91.759137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.082671 meters # Minimum depth: 91.168785 meters looking forward 100.000000 meters along route # Maximum depth: 91.803366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.168785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824531; longitude = -121.961958; captureRadius = 10; duration = 75; initialDepth = 41.168785; finalDepth = 41.168785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.400699 # Actual altitude: 50.400699 # Commanded vehicle depth:41.168785 # Seafloor depth:-91.569484 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 75.082671 meters # Minimum depth: 91.168785 meters looking forward 100.000000 meters along route # Maximum depth: 93.003815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.168785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824952; longitude = -121.961279; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 42.502093; finalDepth = 41.168785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.400699 # Actual altitude: 50.400699 # Commanded vehicle depth:41.168785 # Seafloor depth:-91.425165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 92.502093 meters looking forward 100.000000 meters along route # Maximum depth: 97.993504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 42.502093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825162; longitude = -121.962018; captureRadius = 10; duration = 75; initialDepth = 45.998170; finalDepth = 42.502093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.508314 # Actual altitude: 50.508314 # Commanded vehicle depth:42.502093 # Seafloor depth:-93.010407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 95.998170 meters looking forward 100.000000 meters along route # Maximum depth: 106.692450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.998170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825387; longitude = -121.962812; captureRadius = 10; duration = 75; initialDepth = 54.109840; finalDepth = 45.998170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.225827 # Actual altitude: 51.225827 # Commanded vehicle depth:45.99817 # Seafloor depth:-97.223997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 104.109840 meters looking forward 100.000000 meters along route # Maximum depth: 117.121340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.109840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825613; longitude = -121.963605; captureRadius = 10; duration = 75; initialDepth = 62.584023; finalDepth = 54.109840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.651663 # Actual altitude: 52.651663 # Commanded vehicle depth:54.10984 # Seafloor depth:-106.761503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 112.584023 meters looking forward 100.000000 meters along route # Maximum depth: 131.333082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.584023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825838; longitude = -121.964398; captureRadius = 10; duration = 75; initialDepth = 77.162877; finalDepth = 62.584023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7045 # Actual altitude: 54.7045 # Commanded vehicle depth:62.584023 # Seafloor depth:-117.288523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 127.162877 meters looking forward 100.000000 meters along route # Maximum depth: 145.456930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.162877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826063; longitude = -121.965191; captureRadius = 10; duration = 75; initialDepth = 91.716487; finalDepth = 77.162877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.399339 # Actual altitude: 55.399339 # Commanded vehicle depth:77.162877 # Seafloor depth:-132.562216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 141.716487 meters looking forward 100.000000 meters along route # Maximum depth: 162.165769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.716487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826289; longitude = -121.965984; captureRadius = 10; duration = 75; initialDepth = 104.288827; finalDepth = 91.716487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.399339 # Actual altitude: 55.399339 # Commanded vehicle depth:91.716487 # Seafloor depth:-145.242900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 154.288827 meters looking forward 100.000000 meters along route # Maximum depth: 175.763924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.288827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826514; longitude = -121.966777; captureRadius = 10; duration = 75; initialDepth = 122.750479; finalDepth = 104.288827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.588112 # Actual altitude: 56.588112 # Commanded vehicle depth:104.288827 # Seafloor depth:-160.876939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 226.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 172.750479 meters looking forward 100.000000 meters along route # Maximum depth: 195.712637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.750479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826739; longitude = -121.967570; captureRadius = 10; duration = 75; initialDepth = 140.234662; finalDepth = 122.750479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.588112 # Actual altitude: 56.588112 # Commanded vehicle depth:122.750479 # Seafloor depth:-177.447835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 226.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 190.234662 meters looking forward 100.000000 meters along route # Maximum depth: 219.532353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.234662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826965; longitude = -121.968363; captureRadius = 10; duration = 75; initialDepth = 162.134375; finalDepth = 140.234662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.648019 # Actual altitude: 55.648019 # Commanded vehicle depth:140.234662 # Seafloor depth:-195.882681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 212.134375 meters looking forward 100.000000 meters along route # Maximum depth: 245.733049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.134375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827190; longitude = -121.969156; captureRadius = 10; duration = 75; initialDepth = 184.639963; finalDepth = 162.134375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.870986 # Actual altitude: 57.870986 # Commanded vehicle depth:162.134375 # Seafloor depth:-220.005361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.15; MB_Bottom_Detect_Filter_Max_Range = 231.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 238.579398 meters looking forward 100.000000 meters along route # Maximum depth: 280.025292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 184.639963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827415; longitude = -121.969949; captureRadius = 10; duration = 75; initialDepth = 207.145488; finalDepth = 184.639963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.7225924999999 # Actual altitude: 61.7225924999999 # Commanded vehicle depth:184.6399625 # Seafloor depth:-246.362555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.69; MB_Bottom_Detect_Filter_Max_Range = 246.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 266.204955 meters looking forward 100.000000 meters along route # Maximum depth: 313.155194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.145488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827640; longitude = -121.970742; captureRadius = 10; duration = 75; initialDepth = 229.650951; finalDepth = 207.145488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.7733451000001 # Actual altitude: 74.7733451000001 # Commanded vehicle depth:207.1454879 # Seafloor depth:-281.918833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 299.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.91; MB_Bottom_Detect_Filter_Max_Range = 299.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 304.808813 meters looking forward 100.000000 meters along route # Maximum depth: 333.605084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.650951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827866; longitude = -121.971535; captureRadius = 10; duration = 75; initialDepth = 252.156352; finalDepth = 229.650951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.9079348 # Actual altitude: 84.9079348 # Commanded vehicle depth:229.6509512 # Seafloor depth:-314.558886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 339.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.96; MB_Bottom_Detect_Filter_Max_Range = 339.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 328.562540 meters looking forward 100.000000 meters along route # Maximum depth: 364.848583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.156352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828091; longitude = -121.972329; captureRadius = 10; duration = 75; initialDepth = 274.661691; finalDepth = 252.156352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.9079348 # Actual altitude: 84.9079348 # Commanded vehicle depth:252.1563524 # Seafloor depth:-335.367551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 339.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.96; MB_Bottom_Detect_Filter_Max_Range = 339.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 359.055289 meters looking forward 100.000000 meters along route # Maximum depth: 395.170581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 274.661691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828316; longitude = -121.973122; captureRadius = 10; duration = 75; initialDepth = 297.166968; finalDepth = 274.661691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.0038668 # Actual altitude: 92.0038668 # Commanded vehicle depth:274.6616912 # Seafloor depth:-366.665558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.80; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 387.338162 meters looking forward 100.000000 meters along route # Maximum depth: 407.893246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 297.166968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828542; longitude = -121.973915; captureRadius = 10; duration = 75; initialDepth = 319.672183; finalDepth = 297.166968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.1705401 # Actual altitude: 98.1705401 # Commanded vehicle depth:297.1669679 # Seafloor depth:-395.337508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.27; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 405.842597 meters looking forward 100.000000 meters along route # Maximum depth: 411.868563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 319.672183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828767; longitude = -121.974708; captureRadius = 10; duration = 75; initialDepth = 342.177335; finalDepth = 319.672183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.1705401 # Actual altitude: 98.1705401 # Commanded vehicle depth:319.6721825 # Seafloor depth:-407.987641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.27; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 401.610450 meters looking forward 100.000000 meters along route # Maximum depth: 412.219386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.177335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828992; longitude = -121.975501; captureRadius = 10; duration = 75; initialDepth = 333.796120; finalDepth = 342.177335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.3154585 # Actual altitude: 88.3154585 # Commanded vehicle depth:342.1773347 # Seafloor depth:-411.887588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.33; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.082671 meters # Minimum depth: 383.796120 meters looking forward 100.000000 meters along route # Maximum depth: 406.192859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.796120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829224; longitude = -121.976318; captureRadius = 10; duration = 75; initialDepth = 325.081453; finalDepth = 333.796120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7102533 # Actual altitude: 69.7102533 # Commanded vehicle depth:333.79612 # Seafloor depth:-400.912692 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 278.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.88; MB_Bottom_Detect_Filter_Max_Range = 278.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 75.082671 meters # Minimum depth: 375.081453 meters looking forward 100.000000 meters along route # Maximum depth: 391.676359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 325.081453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829458; longitude = -121.977140; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 315.854103; finalDepth = 325.081453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.116572 # Actual altitude: 67.116572 # Commanded vehicle depth:325.081453 # Seafloor depth:-382.866241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.85; MB_Bottom_Detect_Filter_Max_Range = 268.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 75.082671 meters # Minimum depth: 365.854103 meters looking forward 100.000000 meters along route # Maximum depth: 375.523415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.854103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829446; longitude = -121.977775; captureRadius = 10; duration = 75; initialDepth = 299.586998; finalDepth = 315.854103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.520177 # Actual altitude: 58.520177 # Commanded vehicle depth:315.854103 # Seafloor depth:-374.374280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.41; MB_Bottom_Detect_Filter_Max_Range = 234.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 75.082671 meters # Minimum depth: 349.586998 meters looking forward 100.000000 meters along route # Maximum depth: 366.342860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.586998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829429; longitude = -121.978672; captureRadius = 10; duration = 75; initialDepth = 296.942074; finalDepth = 299.586998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.718692 # Actual altitude: 65.718692 # Commanded vehicle depth:299.586998 # Seafloor depth:-365.305690 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.29; MB_Bottom_Detect_Filter_Max_Range = 262.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 75.082671 meters # Minimum depth: 346.942074 meters looking forward 100.000000 meters along route # Maximum depth: 364.568334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.942074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829413; longitude = -121.979550; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 295.022020; finalDepth = 296.942074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.718692 # Actual altitude: 65.718692 # Commanded vehicle depth:296.942074 # Seafloor depth:-348.734558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.29; MB_Bottom_Detect_Filter_Max_Range = 262.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.082671 meters # Minimum depth: 345.022020 meters looking forward 100.000000 meters along route # Maximum depth: 347.530137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.022020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829283; longitude = -121.979793; captureRadius = 10; duration = 75; initialDepth = 274.891470; finalDepth = 295.022020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.794159 # Actual altitude: 51.794159 # Commanded vehicle depth:295.02202 # Seafloor depth:-346.816179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.082671 meters # Minimum depth: 324.891470 meters looking forward 100.000000 meters along route # Maximum depth: 346.567121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 274.891470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828892; longitude = -121.980521; captureRadius = 10; duration = 75; initialDepth = 267.886933; finalDepth = 274.891470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.884221 # Actual altitude: 69.884221 # Commanded vehicle depth:274.89147 # Seafloor depth:-344.775691 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 279.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.95; MB_Bottom_Detect_Filter_Max_Range = 279.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 75.082671 meters # Minimum depth: 317.886933 meters looking forward 100.000000 meters along route # Maximum depth: 333.230697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 267.886933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828512; longitude = -121.981231; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 271.444825; finalDepth = 267.886933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.884221 # Actual altitude: 69.884221 # Commanded vehicle depth:267.886933 # Seafloor depth:-324.067245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 279.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.95; MB_Bottom_Detect_Filter_Max_Range = 279.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 75.082671 meters # Minimum depth: 321.444825 meters looking forward 100.000000 meters along route # Maximum depth: 340.977894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.444825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828576; longitude = -121.982034; captureRadius = 10; duration = 75; initialDepth = 287.915939; finalDepth = 271.444825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.180312 # Actual altitude: 56.180312 # Commanded vehicle depth:271.444825 # Seafloor depth:-325.629274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 224.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 75.082671 meters # Minimum depth: 337.915939 meters looking forward 100.000000 meters along route # Maximum depth: 348.335846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.915939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828644; longitude = -121.982875; captureRadius = 10; duration = 75; initialDepth = 292.129223; finalDepth = 287.915939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.548847 # Actual altitude: 54.548847 # Commanded vehicle depth:287.915939 # Seafloor depth:-342.464786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.82; MB_Bottom_Detect_Filter_Max_Range = 218.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 75.082671 meters # Minimum depth: 342.129223 meters looking forward 100.000000 meters along route # Maximum depth: 348.335846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.129223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828711; longitude = -121.983716; captureRadius = 10; duration = 75; initialDepth = 291.161453; finalDepth = 292.129223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.677739 # Actual altitude: 55.677739 # Commanded vehicle depth:292.129223 # Seafloor depth:-347.806962 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.27; MB_Bottom_Detect_Filter_Max_Range = 222.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 75.082671 meters # Minimum depth: 341.161453 meters looking forward 100.000000 meters along route # Maximum depth: 348.273265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 291.161453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828782; longitude = -121.984594; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 291.161453; finalDepth = 291.161453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.677739 # Actual altitude: 55.677739 # Commanded vehicle depth:291.161453 # Seafloor depth:-341.161453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.27; MB_Bottom_Detect_Filter_Max_Range = 222.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 75.082671 meters # Minimum depth: 341.161453 meters looking forward 100.000000 meters along route # Maximum depth: 372.218222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 291.161453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828767; longitude = -121.984604; captureRadius = 10; duration = 75; initialDepth = 312.012558; finalDepth = 291.161453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.680794 # Actual altitude: 50.680794 # Commanded vehicle depth:291.161453 # Seafloor depth:-341.842247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 75.082671 meters # Minimum depth: 362.012558 meters looking forward 100.000000 meters along route # Maximum depth: 403.076114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 312.012558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828167; longitude = -121.985005; captureRadius = 10; duration = 75; initialDepth = 335.295084; finalDepth = 312.012558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.135275 # Actual altitude: 61.135275 # Commanded vehicle depth:312.012558 # Seafloor depth:-373.147833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.45; MB_Bottom_Detect_Filter_Max_Range = 244.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 75.082671 meters # Minimum depth: 398.682802 meters looking forward 100.000000 meters along route # Maximum depth: 413.741350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.295084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827550; longitude = -121.985416; captureRadius = 10; duration = 75; initialDepth = 358.538321; finalDepth = 335.295084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2895727 # Actual altitude: 69.2895727 # Commanded vehicle depth:335.2950843 # Seafloor depth:-404.584657 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.72; MB_Bottom_Detect_Filter_Max_Range = 277.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 75.082671 meters # Minimum depth: 409.933824 meters looking forward 100.000000 meters along route # Maximum depth: 416.844269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.538321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826935; longitude = -121.985827; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 364.542111; finalDepth = 358.538321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2895727 # Actual altitude: 69.2895727 # Commanded vehicle depth:358.5383211 # Seafloor depth:-413.759903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.72; MB_Bottom_Detect_Filter_Max_Range = 277.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 75.082671 meters # Minimum depth: 414.542111 meters looking forward 100.000000 meters along route # Maximum depth: 427.036769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.542111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826728; longitude = -121.986294; captureRadius = 10; duration = 75; initialDepth = 375.900695; finalDepth = 364.542111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.2215819 # Actual altitude: 55.2215819 # Commanded vehicle depth:364.542111 # Seafloor depth:-417.355586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 75.082671 meters # Minimum depth: 425.900695 meters looking forward 100.000000 meters along route # Maximum depth: 434.782606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.900695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826379; longitude = -121.987081; captureRadius = 10; duration = 75; initialDepth = 377.702600; finalDepth = 375.900695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.813475 # Actual altitude: 52.813475 # Commanded vehicle depth:375.900695 # Seafloor depth:-427.046660 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 75.082671 meters # Minimum depth: 427.702600 meters looking forward 100.000000 meters along route # Maximum depth: 439.958086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.702600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826048; longitude = -121.987826; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 389.031273; finalDepth = 377.702600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.89102 # Actual altitude: 57.89102 # Commanded vehicle depth:377.7026 # Seafloor depth:-435.593620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.16; MB_Bottom_Detect_Filter_Max_Range = 231.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 75.082671 meters # Minimum depth: 439.031273 meters looking forward 100.000000 meters along route # Maximum depth: 444.693192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.031273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825723; longitude = -121.988255; captureRadius = 10; duration = 75; initialDepth = 390.321164; finalDepth = 389.031273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.89102 # Actual altitude: 57.89102 # Commanded vehicle depth:389.031273 # Seafloor depth:-440.283323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.16; MB_Bottom_Detect_Filter_Max_Range = 231.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 75.082671 meters # Minimum depth: 440.321164 meters looking forward 100.000000 meters along route # Maximum depth: 444.693192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.321164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825252; longitude = -121.988876; captureRadius = 10; duration = 75; initialDepth = 391.560821; finalDepth = 390.321164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.257402 # Actual altitude: 52.257402 # Commanded vehicle depth:390.321164 # Seafloor depth:-442.578566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 75.082671 meters # Minimum depth: 441.560821 meters looking forward 100.000000 meters along route # Maximum depth: 457.470515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.560821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824788; longitude = -121.989488; captureRadius = 10; duration = 75; initialDepth = 405.377221; finalDepth = 391.560821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.099736 # Actual altitude: 53.099736 # Commanded vehicle depth:391.560821 # Seafloor depth:-444.660557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 75.082671 meters # Minimum depth: 455.377221 meters looking forward 100.000000 meters along route # Maximum depth: 457.840167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.377221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824306; longitude = -121.990125; captureRadius = 10; duration = 75; initialDepth = 406.784409; finalDepth = 405.377221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.099736 # Actual altitude: 53.099736 # Commanded vehicle depth:405.377221 # Seafloor depth:-457.397831 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 75.082671 meters # Minimum depth: 456.784409 meters looking forward 100.000000 meters along route # Maximum depth: 477.190886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.784409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823840; longitude = -121.990740; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 416.811387; finalDepth = 406.784409; 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: 52.02061 # Actual altitude: 52.02061 # Commanded vehicle depth:406.784409 # Seafloor depth:-456.784409 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 75.082671 meters # Minimum depth: 466.811387 meters looking forward 100.000000 meters along route # Maximum depth: 479.482912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.811387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823164; longitude = -121.990516; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 428.423396; finalDepth = 416.811387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.994636 # Actual altitude: 60.994636 # Commanded vehicle depth:416.811387 # Seafloor depth:-477.806023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.40; MB_Bottom_Detect_Filter_Max_Range = 243.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.082671 meters # Minimum depth: 478.423396 meters looking forward 100.000000 meters along route # Maximum depth: 481.738634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.423396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823120; longitude = -121.989881; captureRadius = 10; duration = 75; initialDepth = 428.143960; finalDepth = 428.423396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.994636 # Actual altitude: 60.994636 # Commanded vehicle depth:428.423396 # Seafloor depth:-480.104581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.40; MB_Bottom_Detect_Filter_Max_Range = 243.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.082671 meters # Minimum depth: 478.143960 meters looking forward 100.000000 meters along route # Maximum depth: 480.993346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.143960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823063; longitude = -121.989040; captureRadius = 10; duration = 75; initialDepth = 426.423951; finalDepth = 428.143960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.790968 # Actual altitude: 52.790968 # Commanded vehicle depth:428.14396 # Seafloor depth:-480.934928 # 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 = 211.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.082671 meters # Minimum depth: 476.423951 meters looking forward 100.000000 meters along route # Maximum depth: 478.380340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.423951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823005; longitude = -121.988199; captureRadius = 10; duration = 75; initialDepth = 424.519676; finalDepth = 426.423951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.790968 # Actual altitude: 52.790968 # Commanded vehicle depth:426.423951 # Seafloor depth:-477.776024 # 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 = 211.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.082671 meters # Minimum depth: 474.519676 meters looking forward 100.000000 meters along route # Maximum depth: 476.837637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.519676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822947; longitude = -121.987359; captureRadius = 10; duration = 75; initialDepth = 423.369062; finalDepth = 424.519676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.001305 # Actual altitude: 52.001305 # Commanded vehicle depth:424.519676 # Seafloor depth:-476.520981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.082671 meters # Minimum depth: 473.369062 meters looking forward 100.000000 meters along route # Maximum depth: 474.734461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.369062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822890; longitude = -121.986518; captureRadius = 10; duration = 75; initialDepth = 422.021107; finalDepth = 423.369062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.001305 # Actual altitude: 52.001305 # Commanded vehicle depth:423.369062 # Seafloor depth:-474.391653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.082671 meters # Minimum depth: 472.021107 meters looking forward 100.000000 meters along route # Maximum depth: 473.755199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.021107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822832; longitude = -121.985677; captureRadius = 10; duration = 75; initialDepth = 418.595388; finalDepth = 422.021107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.17445 # Actual altitude: 51.17445 # Commanded vehicle depth:422.021107 # Seafloor depth:-473.195557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.082671 meters # Minimum depth: 468.595388 meters looking forward 100.000000 meters along route # Maximum depth: 472.142677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.595388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822774; longitude = -121.984830; captureRadius = 10; duration = 75; initialDepth = 418.373207; finalDepth = 418.595388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.527833 # Actual altitude: 53.527833 # Commanded vehicle depth:418.595388 # Seafloor depth:-472.123221 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 75.082671 meters # Minimum depth: 468.373207 meters looking forward 100.000000 meters along route # Maximum depth: 471.797928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.373207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822714; longitude = -121.983959; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 418.549183; finalDepth = 418.373207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.527833 # Actual altitude: 53.527833 # Commanded vehicle depth:418.373207 # Seafloor depth:-468.544037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.082671 meters # Minimum depth: 468.549183 meters looking forward 100.000000 meters along route # Maximum depth: 469.727464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.549183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822548; longitude = -121.983705; captureRadius = 10; duration = 75; initialDepth = 408.636861; finalDepth = 418.549183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.113252 # Actual altitude: 51.113252 # Commanded vehicle depth:418.549183 # Seafloor depth:-469.662435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.082671 meters # Minimum depth: 458.636861 meters looking forward 100.000000 meters along route # Maximum depth: 469.386627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.636861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822117; longitude = -121.983043; captureRadius = 10; duration = 75; initialDepth = 368.742216; finalDepth = 408.636861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.106448 # Actual altitude: 60.106448 # Commanded vehicle depth:408.636861 # Seafloor depth:-468.743309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 240.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.082671 meters # Minimum depth: 418.742216 meters looking forward 100.000000 meters along route # Maximum depth: 462.533296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.742216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821678; longitude = -121.982371; captureRadius = 10; duration = 75; initialDepth = 354.650806; finalDepth = 368.742216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.936211 # Actual altitude: 88.936211 # Commanded vehicle depth:368.742216 # Seafloor depth:-457.678427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.57; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.082671 meters # Minimum depth: 404.650806 meters looking forward 100.000000 meters along route # Maximum depth: 430.427541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.650806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821240; longitude = -121.981698; captureRadius = 10; duration = 75; initialDepth = 313.090920; finalDepth = 354.650806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.936211 # Actual altitude: 88.936211 # Commanded vehicle depth:354.650806 # Seafloor depth:-418.682700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.57; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.082671 meters # Minimum depth: 363.090920 meters looking forward 100.000000 meters along route # Maximum depth: 416.266533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.090920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820791; longitude = -121.981010; captureRadius = 10; duration = 75; initialDepth = 268.901215; finalDepth = 313.090920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.180797 # Actual altitude: 90.180797 # Commanded vehicle depth:313.09092 # Seafloor depth:-403.271717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.07; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.082671 meters # Minimum depth: 318.901215 meters looking forward 100.000000 meters along route # Maximum depth: 373.518067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 268.901215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820363; longitude = -121.980353; captureRadius = 10; duration = 75; initialDepth = 232.709704; finalDepth = 268.901215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.018622 # Actual altitude: 92.018622 # Commanded vehicle depth:268.901215 # Seafloor depth:-360.919837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.81; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.082671 meters # Minimum depth: 282.709704 meters looking forward 100.000000 meters along route # Maximum depth: 334.987931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.709704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819925; longitude = -121.979680; captureRadius = 10; duration = 75; initialDepth = 222.064025; finalDepth = 232.709704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.096008 # Actual altitude: 94.096008 # Commanded vehicle depth:232.709704 # Seafloor depth:-326.805712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.64; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.082671 meters # Minimum depth: 272.064025 meters looking forward 100.000000 meters along route # Maximum depth: 293.325182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.064025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819484; longitude = -121.979005; captureRadius = 10; duration = 75; initialDepth = 165.769014; finalDepth = 222.064025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.096008 # Actual altitude: 94.096008 # Commanded vehicle depth:222.064025 # Seafloor depth:-282.351707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.64; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.082671 meters # Minimum depth: 215.769014 meters looking forward 100.000000 meters along route # Maximum depth: 284.692165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.769014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819048; longitude = -121.978335; captureRadius = 10; duration = 75; initialDepth = 78.604219; finalDepth = 165.769014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.087765 # Actual altitude: 100 # Commanded vehicle depth:165.769014 # Seafloor depth:-266.856779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.082671 meters # Minimum depth: 128.604219 meters looking forward 100.000000 meters along route # Maximum depth: 226.073004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.604219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818609; longitude = -121.977663; captureRadius = 10; duration = 75; initialDepth = 51.999591; finalDepth = 78.604219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 131.957978 # Actual altitude: 100 # Commanded vehicle depth:78.604219 # Seafloor depth:-210.562197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.082671 meters # Minimum depth: 101.999591 meters looking forward 100.000000 meters along route # Maximum depth: 145.202319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.999591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818171; longitude = -121.976990; captureRadius = 10; duration = 75; initialDepth = 48.720621; finalDepth = 51.999591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 131.957978 # Actual altitude: 100 # Commanded vehicle depth:51.999591 # Seafloor depth:-127.767258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.082671 meters # Minimum depth: 98.720621 meters looking forward 100.000000 meters along route # Maximum depth: 103.657289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.720621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817732; longitude = -121.976318; captureRadius = 10; duration = 75; initialDepth = 48.720621; finalDepth = 48.720621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.767667 # Actual altitude: 75.767667 # Commanded vehicle depth:48.720621 # Seafloor depth:-102.040673 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 303.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.31; MB_Bottom_Detect_Filter_Max_Range = 303.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 53.320052 # Sonar parameter altitude: 53.320052 # Commanded vehicle depth:48.720621 # Seafloor depth:-99.588524 # 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; MB_Power = 220; MB_Range = 213.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 75.082671 meters # Minimum depth: 98.720621 meters looking forward 100.000000 meters along route # Maximum depth: 103.657289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 453.423396 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.720621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817306; longitude = -121.975664; captureRadius = 10; duration = 600; initialDepth = 48.720621; finalDepth = 48.720621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 48.0; 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 = 48.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 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 = 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 = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################