# 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_7v3.rte # Mission File: SoquelCanyon_7v3.cfg # Distance: 37755.042903 (m) # Estimated Time: 27226 (s) 7.563 (hr) # Abort Time: 35394 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 328 (s) # Way Points: 86 # Route Points: 351 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 80 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.3 # Subbottom enabled # Low sidescan enabled # High sidescan enabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 20 (m) # Maximum Vehicle Depth: 947.49125 (m) # Abort Vehicle Depth: 972.49125 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.975010 36.800618 -101.442942 0.000000 3 # 1 -121.977289 36.801670 -112.421839 234.405944 1 # 2 -121.993150 36.809150 -592.473297 1874.771579 4 # 3 -121.994345 36.809270 -587.987396 1982.201697 3 # 4 -121.994943 36.808294 -593.799973 2102.907669 1 # 5 -121.994887 36.806897 -604.442566 2257.972236 1 # 6 -121.995130 36.805125 -605.609924 2455.750633 1 # 7 -121.995672 36.803382 -619.927246 2655.073877 1 # 8 -121.997596 36.797464 -676.981461 3333.687982 1 # 9 -121.999875 36.793694 -720.883911 3798.742035 1 # 10 -122.001501 36.791711 -717.857407 4062.268318 1 # 11 -122.004041 36.789353 -770.875732 4408.387525 1 # 12 -122.005480 36.788016 -831.972321 4604.571269 1 # 13 -122.006769 36.786259 -837.123367 4830.898652 1 # 14 -122.008226 36.781212 -967.770828 5405.709814 4 # 15 -122.005872 36.781167 -963.729385 5615.837752 3 # 16 -122.004695 36.785628 -839.375763 6121.763394 1 # 17 -121.999483 36.790990 -770.913574 6876.846649 4 # 18 -122.000155 36.791711 -767.592911 6976.813446 3 # 19 -122.001108 36.791125 -737.041260 7083.851453 1 # 20 -121.999651 36.790089 -726.981201 7257.377430 1 # 21 -121.999726 36.789398 -734.444458 7334.328664 1 # 22 -122.003518 36.785403 -838.789139 7891.934116 1 # 23 -122.004546 36.781242 -930.286880 8362.582165 4 # 24 -122.003369 36.781152 -909.551773 8468.090033 3 # 25 -122.000548 36.783735 -853.281998 8849.519256 1 # 26 -121.998773 36.785838 -780.154587 9131.512575 1 # 27 -121.998829 36.787280 -797.368988 9291.566321 1 # 28 -121.999165 36.788226 -807.572189 9400.714330 1 # 29 -121.998717 36.789353 -786.020950 9531.979022 1 # 30 -121.999277 36.791696 -762.749084 9796.671178 4 # 31 -122.000118 36.791110 -753.389908 9895.955879 3 # 32 -121.999782 36.788497 -761.655945 10187.388866 1 # 33 -122.000940 36.786439 -806.344055 10437.997820 1 # 34 -122.001968 36.785072 -863.027725 10615.238046 1 # 35 -122.003144 36.782053 -905.678085 10966.221722 4 # 36 -122.001613 36.781527 -868.821579 11114.786026 3 # 37 -121.999277 36.783540 -805.411530 11420.282343 1 # 38 -121.997409 36.785763 -725.028152 11717.952237 1 # 39 -121.997876 36.788362 -716.538910 12009.281554 1 # 40 -121.997802 36.792477 -698.284882 12465.848468 1 # 41 -121.995055 36.796533 -675.456329 12978.244374 1 # 42 -121.992608 36.800573 -615.833023 13476.788387 3 # 43 -121.994570 36.801024 -645.411896 13658.841654 1 # 44 -121.998044 36.799807 -613.935059 13996.911800 3 # 45 -121.999109 36.797960 -636.347275 14222.777325 1 # 46 -122.001164 36.794460 -673.262375 14652.180897 1 # 47 -122.002808 36.792507 -625.918915 14913.831319 1 # 48 -122.004994 36.790435 -718.919250 15215.301049 1 # 49 -122.006825 36.788647 -772.670349 15472.282948 1 # 50 -122.008805 36.786154 -739.786041 15800.472359 4 # 51 -122.010318 36.787010 -706.159088 15965.535156 3 # 52 -122.007385 36.793333 -561.875092 16714.238117 1 # 53 -122.003742 36.798606 -467.675110 17383.460442 3 # 54 -121.999277 36.798501 -623.021042 17781.993399 3 # 55 -121.996569 36.803517 -572.522736 18388.653357 1 # 56 -121.996232 36.805500 -540.779022 18610.693269 1 # 57 -121.996176 36.807708 -509.059853 18855.701035 1 # 58 -121.996064 36.808970 -507.647446 18996.064154 1 # 59 -121.994663 36.810457 -565.560181 19203.028262 1 # 60 -121.993878 36.811358 -573.025513 19325.073836 4 # 61 -121.994626 36.811659 -568.080551 19399.688046 3 # 62 -121.996400 36.809466 -492.959007 19689.919810 1 # 63 -121.998362 36.808204 -404.920776 19914.052573 1 # 64 -121.999053 36.806386 -394.017799 20124.952371 1 # 65 -122.002453 36.797840 -509.268639 21120.390383 1 # 66 -122.007964 36.790299 -699.437317 22090.793339 4 # 67 -122.006899 36.789714 -741.352158 22205.869158 3 # 68 -122.000828 36.797254 -561.294174 23202.430827 1 # 69 -121.997802 36.805185 -444.341545 24122.784550 1 # 70 -121.997092 36.808234 -457.680214 24466.921349 3 # 71 -121.993710 36.808609 -595.853165 24771.476415 3 # 72 -121.992720 36.805981 -609.227509 25076.111423 3 # 73 -121.976280 36.798020 -121.103273 26788.199951 4 # 74 -121.975720 36.799282 -111.740969 26936.855109 3 # 75 -121.992645 36.807393 -601.006760 28694.592004 4 # 76 -121.992440 36.804539 -614.953827 29011.744370 3 # 77 -121.976449 36.796758 -142.589787 30679.240383 4 # 78 -121.977252 36.795572 -182.955788 30829.057808 3 # 79 -121.992702 36.803247 -622.755783 32449.258019 4 # 80 -121.993225 36.800438 -632.829773 32764.363828 3 # 81 -121.978373 36.793499 -241.892326 34296.858159 4 # 82 -121.977569 36.794595 -207.683331 34438.033680 3 # 83 -121.992645 36.801715 -629.095657 35997.895517 4 # 84 -121.993766 36.799192 -651.826294 36295.129629 3 # 85 -121.979531 36.792703 -273.549614 37755.042903 4 # # A total of 351 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 20000; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 947.491250; abortDepth = 972.491250; minAltitude = 50.000000; abortAltitude = 20.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1800; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 85 # Segment length 105.686954 meters # Minimum depth: 273.549614 meters looking forward 0.000000 meters along route # Maximum depth: 273.549614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.549614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792703; longitude = -121.979531; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 210.930453; finalDepth = 223.549614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:223.549614 # Seafloor depth:-273.549614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 105.686954 meters # Minimum depth: 260.930453 meters looking forward 0.000000 meters along route # Maximum depth: 260.930453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.930453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793308; longitude = -121.980857; captureRadius = 10; duration = 105; initialDepth = 237.934033; finalDepth = 210.930453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:210.930453 # Seafloor depth:-260.930453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 105.686954 meters # Minimum depth: 287.934033 meters looking forward 0.000000 meters along route # Maximum depth: 287.934033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.934033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793754; longitude = -121.981837; captureRadius = 10; duration = 105; initialDepth = 255.928316; finalDepth = 237.934033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:237.934033 # Seafloor depth:-287.934033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 105.686954 meters # Minimum depth: 305.928316 meters looking forward 0.000000 meters along route # Maximum depth: 305.928316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.928316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794205; longitude = -121.982825; captureRadius = 10; duration = 105; initialDepth = 278.019809; finalDepth = 255.928316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:255.928316 # Seafloor depth:-305.928316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 105.686954 meters # Minimum depth: 328.019809 meters looking forward 0.000000 meters along route # Maximum depth: 328.019809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.019809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794655; longitude = -121.983814; captureRadius = 10; duration = 105; initialDepth = 303.226303; finalDepth = 278.019809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:278.019809 # Seafloor depth:-328.019809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 105.686954 meters # Minimum depth: 353.226303 meters looking forward 0.000000 meters along route # Maximum depth: 353.226303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 303.226303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795106; longitude = -121.984802; captureRadius = 10; duration = 105; initialDepth = 326.363053; finalDepth = 303.226303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:303.226303 # Seafloor depth:-353.226303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 105.686954 meters # Minimum depth: 376.363053 meters looking forward 0.000000 meters along route # Maximum depth: 376.363053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.363053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795557; longitude = -121.985791; captureRadius = 10; duration = 105; initialDepth = 347.257321; finalDepth = 326.363053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:326.363053 # Seafloor depth:-376.363053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 105.686954 meters # Minimum depth: 397.257321 meters looking forward 0.000000 meters along route # Maximum depth: 397.257321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.257321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796007; longitude = -121.986779; captureRadius = 10; duration = 105; initialDepth = 363.795505; finalDepth = 347.257321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:347.257321 # Seafloor depth:-397.257321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 105.686954 meters # Minimum depth: 413.795505 meters looking forward 0.000000 meters along route # Maximum depth: 413.795505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.795505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796458; longitude = -121.987768; captureRadius = 10; duration = 105; initialDepth = 376.266113; finalDepth = 363.795505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:363.795505 # Seafloor depth:-413.795505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 105.686954 meters # Minimum depth: 426.266113 meters looking forward 0.000000 meters along route # Maximum depth: 426.266113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.266113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796910; longitude = -121.988760; captureRadius = 10; duration = 105; initialDepth = 397.119048; finalDepth = 376.266113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:376.266113 # Seafloor depth:-426.266113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 105.686954 meters # Minimum depth: 447.119048 meters looking forward 0.000000 meters along route # Maximum depth: 447.119048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.119048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797359; longitude = -121.989745; captureRadius = 10; duration = 105; initialDepth = 427.532881; finalDepth = 397.119048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:397.119048 # Seafloor depth:-447.119048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 105.686954 meters # Minimum depth: 496.693880 meters looking forward 0.000000 meters along route # Maximum depth: 496.693880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.532881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797810; longitude = -121.990733; captureRadius = 10; duration = 105; initialDepth = 458.196362; finalDepth = 427.532881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1609990999984 # Actual altitude: 69.1609990999984 # Commanded vehicle depth:427.532880900002 # Seafloor depth:-496.693880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 276.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 276.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 105.686954 meters # Minimum depth: 556.124406 meters looking forward 0.000000 meters along route # Maximum depth: 556.124406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.196362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798264; longitude = -121.991730; captureRadius = 10; duration = 105; initialDepth = 489.233781; finalDepth = 458.196362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.9280438999995 # Actual altitude: 97.9280438999995 # Commanded vehicle depth:458.196362100001 # Seafloor depth:-556.124406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.38; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 105.686954 meters # Minimum depth: 614.745625 meters looking forward 0.000000 meters along route # Maximum depth: 614.745625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.233781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798724; longitude = -121.992739; captureRadius = 10; duration = 105; initialDepth = 520.834746; finalDepth = 489.233781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 125.511844 # Actual altitude: 100 # Commanded vehicle depth:489.233781 # Seafloor depth:-614.745625 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 84 # Segment length 105.686954 meters # Minimum depth: 651.826294 meters looking forward 0.000000 meters along route # Maximum depth: 651.826294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.834746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799192; longitude = -121.993766; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 548.422464; finalDepth = 520.834746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 130.9915477 # Actual altitude: 100 # Commanded vehicle depth:520.8347463 # Seafloor depth:-651.826294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 84 # Segment length 105.686954 meters # Minimum depth: 634.271230 meters looking forward 0.000000 meters along route # Maximum depth: 634.271230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.422464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799973; longitude = -121.993419; captureRadius = 10; duration = 105; initialDepth = 578.682133; finalDepth = 548.422464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 130.9915477 # Actual altitude: 100 # Commanded vehicle depth:548.422464 # Seafloor depth:-634.271230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 84 # Segment length 105.686954 meters # Minimum depth: 630.871445 meters looking forward 0.000000 meters along route # Maximum depth: 630.871445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.682133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800829; longitude = -121.993039; captureRadius = 10; duration = 105; initialDepth = 579.095657; finalDepth = 578.682133; 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: 85.8487659999996 # Actual altitude: 85.8487659999996 # Commanded vehicle depth:578.6821332 # Seafloor depth:-630.871445 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 343.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 343.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 105.686954 meters # Minimum depth: 629.095657 meters looking forward 0.000000 meters along route # Maximum depth: 629.095657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.095657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801715; longitude = -121.992645; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 519.723346; finalDepth = 579.095657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1893117999997 # Actual altitude: 52.1893117999997 # Commanded vehicle depth:579.095657 # Seafloor depth:-629.095657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 208.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.66; MB_Bottom_Detect_Filter_Max_Range = 208.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 105.686954 meters # Minimum depth: 569.723346 meters looking forward 0.000000 meters along route # Maximum depth: 569.723346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.723346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801177; longitude = -121.991506; captureRadius = 10; duration = 105; initialDepth = 447.949991; finalDepth = 519.723346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:519.723346 # Seafloor depth:-569.723346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 105.686954 meters # Minimum depth: 497.949991 meters looking forward 0.000000 meters along route # Maximum depth: 497.949991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.949991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800701; longitude = -121.990497; captureRadius = 10; duration = 105; initialDepth = 421.197195; finalDepth = 447.949991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:447.949991 # Seafloor depth:-497.949991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 105.686954 meters # Minimum depth: 471.197195 meters looking forward 0.000000 meters along route # Maximum depth: 471.197195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.197195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800243; longitude = -121.989528; captureRadius = 10; duration = 105; initialDepth = 392.758055; finalDepth = 421.197195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:421.197195 # Seafloor depth:-471.197195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 105.686954 meters # Minimum depth: 442.758055 meters looking forward 0.000000 meters along route # Maximum depth: 442.758055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.758055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799774; longitude = -121.988536; captureRadius = 10; duration = 105; initialDepth = 353.875183; finalDepth = 392.758055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:392.758055 # Seafloor depth:-442.758055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 105.686954 meters # Minimum depth: 403.875183 meters looking forward 0.000000 meters along route # Maximum depth: 403.875183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.875183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799297; longitude = -121.987524; captureRadius = 10; duration = 105; initialDepth = 326.204956; finalDepth = 353.875183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:353.875183 # Seafloor depth:-403.875183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 105.686954 meters # Minimum depth: 376.204956 meters looking forward 0.000000 meters along route # Maximum depth: 376.204956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.204956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798821; longitude = -121.986518; captureRadius = 10; duration = 105; initialDepth = 306.883939; finalDepth = 326.204956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:326.204956 # Seafloor depth:-376.204956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 105.686954 meters # Minimum depth: 356.883939 meters looking forward 0.000000 meters along route # Maximum depth: 356.883939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.883939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798345; longitude = -121.985509; captureRadius = 10; duration = 105; initialDepth = 288.148383; finalDepth = 306.883939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:306.883939 # Seafloor depth:-356.883939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 105.686954 meters # Minimum depth: 338.148383 meters looking forward 0.000000 meters along route # Maximum depth: 338.148383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.148383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797868; longitude = -121.984500; captureRadius = 10; duration = 105; initialDepth = 265.325682; finalDepth = 288.148383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:288.148383 # Seafloor depth:-338.148383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 105.686954 meters # Minimum depth: 315.325682 meters looking forward 0.000000 meters along route # Maximum depth: 315.325682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.325682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797404; longitude = -121.983517; captureRadius = 10; duration = 105; initialDepth = 241.547202; finalDepth = 265.325682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:265.325682 # Seafloor depth:-315.325682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 105.686954 meters # Minimum depth: 291.547202 meters looking forward 0.000000 meters along route # Maximum depth: 291.547202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.547202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796942; longitude = -121.982539; captureRadius = 10; duration = 105; initialDepth = 219.792187; finalDepth = 241.547202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:241.547202 # Seafloor depth:-291.547202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 105.686954 meters # Minimum depth: 269.792187 meters looking forward 0.000000 meters along route # Maximum depth: 269.792187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.792187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796466; longitude = -121.981530; captureRadius = 10; duration = 105; initialDepth = 190.181361; finalDepth = 219.792187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:219.792187 # Seafloor depth:-269.792187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 105.686954 meters # Minimum depth: 240.181361 meters looking forward 0.000000 meters along route # Maximum depth: 240.181361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.181361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796007; longitude = -121.980559; captureRadius = 10; duration = 105; initialDepth = 154.456390; finalDepth = 190.181361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:190.181361 # Seafloor depth:-240.181361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 105.686954 meters # Minimum depth: 204.456390 meters looking forward 0.000000 meters along route # Maximum depth: 204.456390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.456390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795539; longitude = -121.979568; captureRadius = 10; duration = 105; initialDepth = 150.621084; finalDepth = 154.456390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:154.45639 # Seafloor depth:-204.456390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 105.686954 meters # Minimum depth: 200.621084 meters looking forward 0.000000 meters along route # Maximum depth: 200.621084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.621084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795061; longitude = -121.978555; captureRadius = 10; duration = 105; initialDepth = 157.683331; finalDepth = 150.621084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:150.621084 # Seafloor depth:-200.621084 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 82 # Segment length 105.686954 meters # Minimum depth: 207.683331 meters looking forward 0.000000 meters along route # Maximum depth: 207.683331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.683331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794595; longitude = -121.977569; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 191.892326; finalDepth = 157.683331; 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: 50 # Actual altitude: 50 # Commanded vehicle depth:157.683331 # Seafloor depth:-207.683331 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 81 # Segment length 105.686954 meters # Minimum depth: 241.892326 meters looking forward 0.000000 meters along route # Maximum depth: 241.892326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.892326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793499; longitude = -121.978373; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 176.113441; finalDepth = 191.892326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:191.892326 # Seafloor depth:-241.892326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 105.686954 meters # Minimum depth: 226.113441 meters looking forward 0.000000 meters along route # Maximum depth: 226.113441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.113441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793934; longitude = -121.979305; captureRadius = 10; duration = 105; initialDepth = 190.432381; finalDepth = 176.113441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:176.113441 # Seafloor depth:-226.113441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 105.686954 meters # Minimum depth: 240.432381 meters looking forward 0.000000 meters along route # Maximum depth: 240.432381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.432381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794398; longitude = -121.980297; captureRadius = 10; duration = 105; initialDepth = 221.660909; finalDepth = 190.432381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:190.432381 # Seafloor depth:-240.432381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 105.686954 meters # Minimum depth: 275.375168 meters looking forward 0.000000 meters along route # Maximum depth: 275.375168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 221.660909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794869; longitude = -121.981306; captureRadius = 10; duration = 105; initialDepth = 241.886037; finalDepth = 221.660909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7142591000011 # Actual altitude: 53.7142591000011 # Commanded vehicle depth:221.660908899999 # Seafloor depth:-275.375168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 214.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.11; MB_Bottom_Detect_Filter_Max_Range = 214.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 105.686954 meters # Minimum depth: 291.886037 meters looking forward 0.000000 meters along route # Maximum depth: 291.886037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.886037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795331; longitude = -121.982295; captureRadius = 10; duration = 105; initialDepth = 263.771937; finalDepth = 241.886037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7142591000011 # Actual altitude: 53.7142591000011 # Commanded vehicle depth:241.886037 # Seafloor depth:-291.886037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 214.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.11; MB_Bottom_Detect_Filter_Max_Range = 214.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 105.686954 meters # Minimum depth: 313.771937 meters looking forward 0.000000 meters along route # Maximum depth: 313.771937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.771937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795786; longitude = -121.983267; captureRadius = 10; duration = 105; initialDepth = 286.537368; finalDepth = 263.771937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:263.771937 # Seafloor depth:-313.771937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 105.686954 meters # Minimum depth: 336.537368 meters looking forward 0.000000 meters along route # Maximum depth: 336.537368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 286.537368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796257; longitude = -121.984276; captureRadius = 10; duration = 105; initialDepth = 307.561726; finalDepth = 286.537368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:286.537368 # Seafloor depth:-336.537368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 105.686954 meters # Minimum depth: 357.561726 meters looking forward 0.000000 meters along route # Maximum depth: 357.561726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 307.561726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796728; longitude = -121.985285; captureRadius = 10; duration = 105; initialDepth = 328.399945; finalDepth = 307.561726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:307.561726 # Seafloor depth:-357.561726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 105.686954 meters # Minimum depth: 378.399945 meters looking forward 0.000000 meters along route # Maximum depth: 378.399945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.399945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797200; longitude = -121.986294; captureRadius = 10; duration = 105; initialDepth = 347.907037; finalDepth = 328.399945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:328.399945 # Seafloor depth:-378.399945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 105.686954 meters # Minimum depth: 397.907037 meters looking forward 0.000000 meters along route # Maximum depth: 397.907037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.907037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797671; longitude = -121.987303; captureRadius = 10; duration = 105; initialDepth = 360.426233; finalDepth = 347.907037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:347.907037 # Seafloor depth:-397.907037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 105.686954 meters # Minimum depth: 410.426233 meters looking forward 0.000000 meters along route # Maximum depth: 410.426233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.426233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798125; longitude = -121.988274; captureRadius = 10; duration = 105; initialDepth = 391.062049; finalDepth = 360.426233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:360.426233 # Seafloor depth:-410.426233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 105.686954 meters # Minimum depth: 450.866534 meters looking forward 0.000000 meters along route # Maximum depth: 450.866534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.062049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798587; longitude = -121.989264; captureRadius = 10; duration = 105; initialDepth = 422.289255; finalDepth = 391.062049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.8044846000003 # Actual altitude: 59.8044846000003 # Commanded vehicle depth:391.0620494 # Seafloor depth:-450.866534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 239.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.94; MB_Bottom_Detect_Filter_Max_Range = 239.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 105.686954 meters # Minimum depth: 491.048485 meters looking forward 0.000000 meters along route # Maximum depth: 491.048485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.289255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799059; longitude = -121.990273; captureRadius = 10; duration = 105; initialDepth = 452.977995; finalDepth = 422.289255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.7592297999993 # Actual altitude: 68.7592297999993 # Commanded vehicle depth:422.289255200001 # Seafloor depth:-491.048485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 275.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 275.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 105.686954 meters # Minimum depth: 534.453936 meters looking forward 0.000000 meters along route # Maximum depth: 534.453936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.977995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799522; longitude = -121.991264; captureRadius = 10; duration = 105; initialDepth = 483.008397; finalDepth = 452.977995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4759413999996 # Actual altitude: 81.4759413999996 # Commanded vehicle depth:452.9779946 # Seafloor depth:-534.453936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 325.90; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.44; MB_Bottom_Detect_Filter_Max_Range = 325.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 105.686954 meters # Minimum depth: 589.121863 meters looking forward 0.000000 meters along route # Maximum depth: 589.121863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.008397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799975; longitude = -121.992234; captureRadius = 10; duration = 105; initialDepth = 513.669410; finalDepth = 483.008397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.113466399999 # Actual altitude: 100 # Commanded vehicle depth:483.008396600001 # Seafloor depth:-589.121863 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 80 # Segment length 105.686954 meters # Minimum depth: 632.829773 meters looking forward 0.000000 meters along route # Maximum depth: 632.829773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.669410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800438; longitude = -121.993225; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 546.533307; finalDepth = 513.669410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 119.160363 # Actual altitude: 100 # Commanded vehicle depth:513.66941 # Seafloor depth:-632.829773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 80 # Segment length 105.686954 meters # Minimum depth: 632.664810 meters looking forward 0.000000 meters along route # Maximum depth: 632.664810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.533307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801415; longitude = -121.993043; captureRadius = 10; duration = 105; initialDepth = 576.862707; finalDepth = 546.533307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 119.160363 # Actual altitude: 100 # Commanded vehicle depth:546.533307200001 # Seafloor depth:-632.664810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 80 # Segment length 105.686954 meters # Minimum depth: 628.255438 meters looking forward 0.000000 meters along route # Maximum depth: 628.255438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.862707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802316; longitude = -121.992875; captureRadius = 10; duration = 105; initialDepth = 572.755783; finalDepth = 576.862707; 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: 86.1315027999989 # Actual altitude: 86.1315027999989 # Commanded vehicle depth:576.8627066 # Seafloor depth:-628.255438 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 344.53; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.84; MB_Bottom_Detect_Filter_Max_Range = 344.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 105.686954 meters # Minimum depth: 622.755783 meters looking forward 0.000000 meters along route # Maximum depth: 622.755783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.755783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803247; longitude = -121.992702; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 507.149184; finalDepth = 572.755783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3927313999997 # Actual altitude: 51.3927313999997 # Commanded vehicle depth:572.755783 # Seafloor depth:-622.755783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 205.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.42; MB_Bottom_Detect_Filter_Max_Range = 205.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 105.686954 meters # Minimum depth: 557.149184 meters looking forward 0.000000 meters along route # Maximum depth: 557.149184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.149184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802486; longitude = -121.991170; captureRadius = 10; duration = 105; initialDepth = 435.988368; finalDepth = 507.149184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:507.149184 # Seafloor depth:-557.149184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 105.686954 meters # Minimum depth: 485.988368 meters looking forward 0.000000 meters along route # Maximum depth: 485.988368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.988368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801985; longitude = -121.990161; captureRadius = 10; duration = 105; initialDepth = 409.918674; finalDepth = 435.988368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:435.988368 # Seafloor depth:-485.988368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 105.686954 meters # Minimum depth: 459.918674 meters looking forward 0.000000 meters along route # Maximum depth: 459.918674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.918674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801484; longitude = -121.989152; captureRadius = 10; duration = 105; initialDepth = 390.887604; finalDepth = 409.918674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:409.918674 # Seafloor depth:-459.918674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 105.686954 meters # Minimum depth: 440.887604 meters looking forward 0.000000 meters along route # Maximum depth: 440.887604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.887604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801009; longitude = -121.988197; captureRadius = 10; duration = 105; initialDepth = 359.945013; finalDepth = 390.887604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:390.887604 # Seafloor depth:-440.887604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 105.686954 meters # Minimum depth: 409.945013 meters looking forward 0.000000 meters along route # Maximum depth: 409.945013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.945013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800509; longitude = -121.987190; captureRadius = 10; duration = 105; initialDepth = 327.829950; finalDepth = 359.945013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:359.945013 # Seafloor depth:-409.945013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 105.686954 meters # Minimum depth: 377.829950 meters looking forward 0.000000 meters along route # Maximum depth: 377.829950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.829950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800008; longitude = -121.986182; captureRadius = 10; duration = 105; initialDepth = 299.100807; finalDepth = 327.829950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:327.82995 # Seafloor depth:-377.829950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 105.686954 meters # Minimum depth: 349.100807 meters looking forward 0.000000 meters along route # Maximum depth: 349.100807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.100807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799507; longitude = -121.985173; captureRadius = 10; duration = 105; initialDepth = 269.306990; finalDepth = 299.100807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:299.100807 # Seafloor depth:-349.100807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 105.686954 meters # Minimum depth: 319.306990 meters looking forward 0.000000 meters along route # Maximum depth: 319.306990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.306990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799006; longitude = -121.984164; captureRadius = 10; duration = 105; initialDepth = 246.572839; finalDepth = 269.306990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:269.30699 # Seafloor depth:-319.306990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 105.686954 meters # Minimum depth: 296.572839 meters looking forward 0.000000 meters along route # Maximum depth: 296.572839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.572839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798531; longitude = -121.983208; captureRadius = 10; duration = 105; initialDepth = 227.848034; finalDepth = 246.572839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:246.572839 # Seafloor depth:-296.572839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 105.686954 meters # Minimum depth: 277.848034 meters looking forward 0.000000 meters along route # Maximum depth: 277.848034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.848034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798031; longitude = -121.982202; captureRadius = 10; duration = 105; initialDepth = 201.408058; finalDepth = 227.848034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:227.848034 # Seafloor depth:-277.848034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 105.686954 meters # Minimum depth: 251.408058 meters looking forward 0.000000 meters along route # Maximum depth: 251.408058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.408058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797530; longitude = -121.981194; captureRadius = 10; duration = 105; initialDepth = 170.732485; finalDepth = 201.408058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:201.408058 # Seafloor depth:-251.408058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 105.686954 meters # Minimum depth: 220.732485 meters looking forward 0.000000 meters along route # Maximum depth: 220.732485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.732485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797029; longitude = -121.980185; captureRadius = 10; duration = 105; initialDepth = 141.674653; finalDepth = 170.732485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:170.732485 # Seafloor depth:-220.732485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 105.686954 meters # Minimum depth: 191.674653 meters looking forward 0.000000 meters along route # Maximum depth: 191.674653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.674653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796528; longitude = -121.979176; captureRadius = 10; duration = 105; initialDepth = 129.531813; finalDepth = 141.674653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:141.674653 # Seafloor depth:-191.674653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 105.686954 meters # Minimum depth: 179.531813 meters looking forward 0.000000 meters along route # Maximum depth: 179.531813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.531813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796052; longitude = -121.978219; captureRadius = 10; duration = 105; initialDepth = 132.955788; finalDepth = 129.531813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:129.531813 # Seafloor depth:-179.531813 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 105.686954 meters # Minimum depth: 182.955788 meters looking forward 0.000000 meters along route # Maximum depth: 182.955788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.955788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795572; longitude = -121.977252; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 92.589787; finalDepth = 132.955788; 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: 50 # Actual altitude: 50 # Commanded vehicle depth:132.955788 # Seafloor depth:-182.955788 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 105.686954 meters # Minimum depth: 142.589787 meters looking forward 0.000000 meters along route # Maximum depth: 142.589787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.589787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796758; longitude = -121.976449; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 94.071827; finalDepth = 92.589787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:92.589787 # Seafloor depth:-142.589787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 105.686954 meters # Minimum depth: 144.071827 meters looking forward 0.000000 meters along route # Maximum depth: 144.071827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.071827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797314; longitude = -121.977592; captureRadius = 10; duration = 105; initialDepth = 112.486227; finalDepth = 94.071827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:94.071827 # Seafloor depth:-144.071827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 105.686954 meters # Minimum depth: 162.486227 meters looking forward 0.000000 meters along route # Maximum depth: 162.486227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.486227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797785; longitude = -121.978560; captureRadius = 10; duration = 105; initialDepth = 139.594600; finalDepth = 112.486227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:112.486227 # Seafloor depth:-162.486227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 105.686954 meters # Minimum depth: 189.594600 meters looking forward 0.000000 meters along route # Maximum depth: 189.594600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.594600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798276; longitude = -121.979568; captureRadius = 10; duration = 105; initialDepth = 171.153775; finalDepth = 139.594600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:139.5946 # Seafloor depth:-189.594600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 105.686954 meters # Minimum depth: 222.215604 meters looking forward 0.000000 meters along route # Maximum depth: 222.215604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.153775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798767; longitude = -121.980577; captureRadius = 10; duration = 105; initialDepth = 198.522703; finalDepth = 171.153775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0618289999997 # Actual altitude: 51.0618289999997 # Commanded vehicle depth:171.153775 # Seafloor depth:-222.215604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 204.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 204.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 105.686954 meters # Minimum depth: 248.522703 meters looking forward 0.000000 meters along route # Maximum depth: 248.522703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 198.522703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799252; longitude = -121.981574; captureRadius = 10; duration = 105; initialDepth = 228.714859; finalDepth = 198.522703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0618289999997 # Actual altitude: 51.0618289999997 # Commanded vehicle depth:198.522703 # Seafloor depth:-248.522703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 204.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 204.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 105.686954 meters # Minimum depth: 286.476610 meters looking forward 0.000000 meters along route # Maximum depth: 286.476610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.714859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799721; longitude = -121.982539; captureRadius = 10; duration = 105; initialDepth = 260.273583; finalDepth = 228.714859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.7617513000009 # Actual altitude: 57.7617513000009 # Commanded vehicle depth:228.714858699999 # Seafloor depth:-286.476610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 231.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.33; MB_Bottom_Detect_Filter_Max_Range = 231.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 105.686954 meters # Minimum depth: 323.783466 meters looking forward 0.000000 meters along route # Maximum depth: 323.783466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.273583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800212; longitude = -121.983548; captureRadius = 10; duration = 105; initialDepth = 291.832154; finalDepth = 260.273583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.5098832000004 # Actual altitude: 63.5098832000004 # Commanded vehicle depth:260.2735828 # Seafloor depth:-323.783466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 254.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.05; MB_Bottom_Detect_Filter_Max_Range = 254.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 105.686954 meters # Minimum depth: 351.640469 meters looking forward 0.000000 meters along route # Maximum depth: 351.640469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 291.832154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800703; longitude = -121.984556; captureRadius = 10; duration = 105; initialDepth = 323.097110; finalDepth = 291.832154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.5098832000004 # Actual altitude: 63.5098832000004 # Commanded vehicle depth:291.832153599999 # Seafloor depth:-351.640469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 254.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.05; MB_Bottom_Detect_Filter_Max_Range = 254.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 105.686954 meters # Minimum depth: 375.935741 meters looking forward 0.000000 meters along route # Maximum depth: 375.935741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.097110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801189; longitude = -121.985556; captureRadius = 10; duration = 105; initialDepth = 352.078761; finalDepth = 323.097110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.8083154000006 # Actual altitude: 59.8083154000006 # Commanded vehicle depth:323.097110199999 # Seafloor depth:-375.935741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 239.23; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.94; MB_Bottom_Detect_Filter_Max_Range = 239.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 105.686954 meters # Minimum depth: 402.078761 meters looking forward 0.000000 meters along route # Maximum depth: 402.078761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.078761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801657; longitude = -121.986518; captureRadius = 10; duration = 105; initialDepth = 376.731901; finalDepth = 352.078761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8386308000009 # Actual altitude: 52.8386308000009 # Commanded vehicle depth:352.078761 # Seafloor depth:-402.078761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 211.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.85; MB_Bottom_Detect_Filter_Max_Range = 211.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 105.686954 meters # Minimum depth: 426.731901 meters looking forward 0.000000 meters along route # Maximum depth: 426.731901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.731901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802148; longitude = -121.987527; captureRadius = 10; duration = 105; initialDepth = 407.780275; finalDepth = 376.731901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:376.731901 # Seafloor depth:-426.731901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 105.686954 meters # Minimum depth: 462.232801 meters looking forward 0.000000 meters along route # Maximum depth: 462.232801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.780275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802631; longitude = -121.988519; captureRadius = 10; duration = 105; initialDepth = 438.094474; finalDepth = 407.780275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4525262999994 # Actual altitude: 54.4525262999994 # Commanded vehicle depth:407.780274700001 # Seafloor depth:-462.232801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 217.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.34; MB_Bottom_Detect_Filter_Max_Range = 217.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 105.686954 meters # Minimum depth: 510.352792 meters looking forward 0.000000 meters along route # Maximum depth: 510.352792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.094474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803103; longitude = -121.989488; captureRadius = 10; duration = 105; initialDepth = 468.617204; finalDepth = 438.094474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.2583180000001 # Actual altitude: 72.2583180000001 # Commanded vehicle depth:438.094474 # Seafloor depth:-510.352792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 289.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 289.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 105.686954 meters # Minimum depth: 556.950205 meters looking forward 0.000000 meters along route # Maximum depth: 556.950205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.617204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803578; longitude = -121.990464; captureRadius = 10; duration = 105; initialDepth = 499.456469; finalDepth = 468.617204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.3330005 # Actual altitude: 88.3330005 # Commanded vehicle depth:468.6172045 # Seafloor depth:-556.950205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.50; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 105.686954 meters # Minimum depth: 596.042058 meters looking forward 0.000000 meters along route # Maximum depth: 596.042058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.456469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804057; longitude = -121.991450; captureRadius = 10; duration = 105; initialDepth = 530.430335; finalDepth = 499.456469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.5855893999994 # Actual altitude: 96.5855893999994 # Commanded vehicle depth:499.456468600001 # Seafloor depth:-596.042058 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.98; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_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 76 # Segment length 105.686954 meters # Minimum depth: 614.953827 meters looking forward 0.000000 meters along route # Maximum depth: 614.953827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.430335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804539; longitude = -121.992440; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 560.386948; finalDepth = 530.430335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.5855893999994 # Actual altitude: 96.5855893999994 # Commanded vehicle depth:530.4303352 # Seafloor depth:-614.953827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.98; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 105.686954 meters # Minimum depth: 610.386948 meters looking forward 0.000000 meters along route # Maximum depth: 610.386948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.386948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805560; longitude = -121.992513; captureRadius = 10; duration = 105; initialDepth = 555.633592; finalDepth = 560.386948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5234918000001 # Actual altitude: 84.5234918000001 # Commanded vehicle depth:560.386948 # Seafloor depth:-610.386948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 338.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 338.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 105.686954 meters # Minimum depth: 605.633592 meters looking forward 0.000000 meters along route # Maximum depth: 605.633592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.633592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806461; longitude = -121.992578; captureRadius = 10; duration = 105; initialDepth = 551.006760; finalDepth = 555.633592; 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: 50 # Actual altitude: 50 # Commanded vehicle depth:555.633592 # Seafloor depth:-605.633592 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 105.686954 meters # Minimum depth: 601.006760 meters looking forward 0.000000 meters along route # Maximum depth: 601.006760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.006760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807393; longitude = -121.992645; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 544.806964; finalDepth = 551.006760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:551.00676 # Seafloor depth:-601.006760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 105.686954 meters # Minimum depth: 594.806964 meters looking forward 0.000000 meters along route # Maximum depth: 594.806964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.806964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806867; longitude = -121.991547; captureRadius = 10; duration = 105; initialDepth = 505.212165; finalDepth = 544.806964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:544.806964 # Seafloor depth:-594.806964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 105.686954 meters # Minimum depth: 555.212165 meters looking forward 0.000000 meters along route # Maximum depth: 555.212165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.212165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806391; longitude = -121.990553; captureRadius = 10; duration = 105; initialDepth = 469.193351; finalDepth = 505.212165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:505.212165 # Seafloor depth:-555.212165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 105.686954 meters # Minimum depth: 519.193351 meters looking forward 0.000000 meters along route # Maximum depth: 519.193351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.193351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805921; longitude = -121.989573; captureRadius = 10; duration = 105; initialDepth = 441.968326; finalDepth = 469.193351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:469.193351 # Seafloor depth:-519.193351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 105.686954 meters # Minimum depth: 491.968326 meters looking forward 0.000000 meters along route # Maximum depth: 491.968326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.968326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805450; longitude = -121.988592; captureRadius = 10; duration = 105; initialDepth = 407.556199; finalDepth = 441.968326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:441.968326 # Seafloor depth:-491.968326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 105.686954 meters # Minimum depth: 457.556199 meters looking forward 0.000000 meters along route # Maximum depth: 457.556199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.556199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804974; longitude = -121.987598; captureRadius = 10; duration = 105; initialDepth = 359.437732; finalDepth = 407.556199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:407.556199 # Seafloor depth:-457.556199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 105.686954 meters # Minimum depth: 409.437732 meters looking forward 0.000000 meters along route # Maximum depth: 409.437732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.437732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804510; longitude = -121.986630; captureRadius = 10; duration = 105; initialDepth = 340.069694; finalDepth = 359.437732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:359.437732 # Seafloor depth:-409.437732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 105.686954 meters # Minimum depth: 390.069694 meters looking forward 0.000000 meters along route # Maximum depth: 390.069694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 340.069694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804027; longitude = -121.985621; captureRadius = 10; duration = 105; initialDepth = 301.571531; finalDepth = 340.069694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:340.069694 # Seafloor depth:-390.069694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 105.686954 meters # Minimum depth: 351.571531 meters looking forward 0.000000 meters along route # Maximum depth: 351.571531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.571531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803544; longitude = -121.984612; captureRadius = 10; duration = 105; initialDepth = 272.623893; finalDepth = 301.571531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:301.571531 # Seafloor depth:-351.571531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 105.686954 meters # Minimum depth: 322.623893 meters looking forward 0.000000 meters along route # Maximum depth: 322.623893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 272.623893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803082; longitude = -121.983649; captureRadius = 10; duration = 105; initialDepth = 249.566859; finalDepth = 272.623893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:272.623893 # Seafloor depth:-322.623893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 105.686954 meters # Minimum depth: 299.566859 meters looking forward 0.000000 meters along route # Maximum depth: 299.566859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 249.566859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802603; longitude = -121.982651; captureRadius = 10; duration = 105; initialDepth = 227.128133; finalDepth = 249.566859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:249.566859 # Seafloor depth:-299.566859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 105.686954 meters # Minimum depth: 277.128133 meters looking forward 0.000000 meters along route # Maximum depth: 277.128133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.128133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802136; longitude = -121.981674; captureRadius = 10; duration = 105; initialDepth = 198.806008; finalDepth = 227.128133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:227.128133 # Seafloor depth:-277.128133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 105.686954 meters # Minimum depth: 248.806008 meters looking forward 0.000000 meters along route # Maximum depth: 248.806008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 198.806008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801663; longitude = -121.980689; captureRadius = 10; duration = 105; initialDepth = 148.466917; finalDepth = 198.806008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:198.806008 # Seafloor depth:-248.806008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 105.686954 meters # Minimum depth: 198.466917 meters looking forward 0.000000 meters along route # Maximum depth: 198.466917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 148.466917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801180; longitude = -121.979680; captureRadius = 10; duration = 105; initialDepth = 100.332081; finalDepth = 148.466917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:148.466917 # Seafloor depth:-198.466917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 105.686954 meters # Minimum depth: 150.332081 meters looking forward 0.000000 meters along route # Maximum depth: 150.332081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.332081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800694; longitude = -121.978665; captureRadius = 10; duration = 105; initialDepth = 77.326623; finalDepth = 100.332081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:100.332081 # Seafloor depth:-150.332081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 105.686954 meters # Minimum depth: 127.326623 meters looking forward 0.000000 meters along route # Maximum depth: 127.326623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.326623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800213; longitude = -121.977663; captureRadius = 10; duration = 105; initialDepth = 67.953390; finalDepth = 77.326623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:77.326623 # Seafloor depth:-127.326623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 105.686954 meters # Minimum depth: 117.953390 meters looking forward 0.000000 meters along route # Maximum depth: 117.953390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.953390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799747; longitude = -121.976691; captureRadius = 10; duration = 105; initialDepth = 61.740969; finalDepth = 67.953390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:67.95339 # Seafloor depth:-117.953390 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 105.686954 meters # Minimum depth: 111.740969 meters looking forward 0.000000 meters along route # Maximum depth: 111.740969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.740969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799282; longitude = -121.975720; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 71.103273; finalDepth = 61.740969; 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: 50 # Actual altitude: 50 # Commanded vehicle depth:61.740969 # Seafloor depth:-111.740969 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 105.686954 meters # Minimum depth: 121.103273 meters looking forward 0.000000 meters along route # Maximum depth: 121.103273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.103273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798020; longitude = -121.976280; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 98.639509; finalDepth = 71.103273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:71.103273 # Seafloor depth:-121.103273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 105.686954 meters # Minimum depth: 148.639509 meters looking forward 0.000000 meters along route # Maximum depth: 148.639509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.639509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798846; longitude = -121.977986; captureRadius = 10; duration = 105; initialDepth = 118.085833; finalDepth = 98.639509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:98.639509 # Seafloor depth:-148.639509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 105.686954 meters # Minimum depth: 168.085833 meters looking forward 0.000000 meters along route # Maximum depth: 168.085833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.085833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799314; longitude = -121.978952; captureRadius = 10; duration = 105; initialDepth = 146.456108; finalDepth = 118.085833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:118.085833 # Seafloor depth:-168.085833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 105.686954 meters # Minimum depth: 196.456108 meters looking forward 0.000000 meters along route # Maximum depth: 196.456108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.456108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799792; longitude = -121.979940; captureRadius = 10; duration = 105; initialDepth = 176.871322; finalDepth = 146.456108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:146.456108 # Seafloor depth:-196.456108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 105.686954 meters # Minimum depth: 238.755199 meters looking forward 0.000000 meters along route # Maximum depth: 238.755199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.871322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800264; longitude = -121.980913; captureRadius = 10; duration = 105; initialDepth = 208.389286; finalDepth = 176.871322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.8838766 # Actual altitude: 61.8838766 # Commanded vehicle depth:176.8713224 # Seafloor depth:-238.755199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 247.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.57; MB_Bottom_Detect_Filter_Max_Range = 247.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 105.686954 meters # Minimum depth: 282.930451 meters looking forward 0.000000 meters along route # Maximum depth: 282.930451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 208.389286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800752; longitude = -121.981922; captureRadius = 10; duration = 105; initialDepth = 239.490627; finalDepth = 208.389286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.5411645999998 # Actual altitude: 74.5411645999998 # Commanded vehicle depth:208.3892864 # Seafloor depth:-282.930451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 298.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.36; MB_Bottom_Detect_Filter_Max_Range = 298.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 105.686954 meters # Minimum depth: 314.742099 meters looking forward 0.000000 meters along route # Maximum depth: 314.742099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.490627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801234; longitude = -121.982918; captureRadius = 10; duration = 105; initialDepth = 269.673780; finalDepth = 239.490627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.2514715000005 # Actual altitude: 75.2514715000005 # Commanded vehicle depth:239.490627499999 # Seafloor depth:-314.742099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 301.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 301.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 105.686954 meters # Minimum depth: 346.205297 meters looking forward 0.000000 meters along route # Maximum depth: 346.205297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.673780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801702; longitude = -121.983884; captureRadius = 10; duration = 105; initialDepth = 300.543809; finalDepth = 269.673780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5315171 # Actual altitude: 76.5315171 # Commanded vehicle depth:269.6737799 # Seafloor depth:-346.205297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 306.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 306.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 105.686954 meters # Minimum depth: 366.586975 meters looking forward 0.000000 meters along route # Maximum depth: 366.586975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.543809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802181; longitude = -121.984872; captureRadius = 10; duration = 105; initialDepth = 330.957696; finalDepth = 300.543809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5315171 # Actual altitude: 76.5315171 # Commanded vehicle depth:300.5438087 # Seafloor depth:-366.586975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 306.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 306.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 105.686954 meters # Minimum depth: 389.593666 meters looking forward 0.000000 meters along route # Maximum depth: 389.593666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.957696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802652; longitude = -121.985845; captureRadius = 10; duration = 105; initialDepth = 362.474914; finalDepth = 330.957696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0431662999997 # Actual altitude: 66.0431662999997 # Commanded vehicle depth:330.9576965 # Seafloor depth:-389.593666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 264.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.81; MB_Bottom_Detect_Filter_Max_Range = 264.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 105.686954 meters # Minimum depth: 426.077648 meters looking forward 0.000000 meters along route # Maximum depth: 426.077648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.474914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803141; longitude = -121.986854; captureRadius = 10; duration = 105; initialDepth = 393.576126; finalDepth = 362.474914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.6027336000005 # Actual altitude: 63.6027336000005 # Commanded vehicle depth:362.474914399999 # Seafloor depth:-426.077648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 254.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.08; MB_Bottom_Detect_Filter_Max_Range = 254.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 105.686954 meters # Minimum depth: 463.932918 meters looking forward 0.000000 meters along route # Maximum depth: 463.932918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.576126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803623; longitude = -121.987850; captureRadius = 10; duration = 105; initialDepth = 423.757957; finalDepth = 393.576126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3567918000003 # Actual altitude: 70.3567918000003 # Commanded vehicle depth:393.5761262 # Seafloor depth:-463.932918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 281.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 281.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 105.686954 meters # Minimum depth: 499.620645 meters looking forward 0.000000 meters along route # Maximum depth: 499.620645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.757957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804090; longitude = -121.988816; captureRadius = 10; duration = 105; initialDepth = 454.627862; finalDepth = 423.757957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.8626875999997 # Actual altitude: 75.8626875999997 # Commanded vehicle depth:423.7579574 # Seafloor depth:-499.620645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 303.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.76; MB_Bottom_Detect_Filter_Max_Range = 303.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 105.686954 meters # Minimum depth: 538.288773 meters looking forward 0.000000 meters along route # Maximum depth: 538.288773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.627862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804569; longitude = -121.989804; captureRadius = 10; duration = 105; initialDepth = 485.040424; finalDepth = 454.627862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.6609109999998 # Actual altitude: 83.6609109999998 # Commanded vehicle depth:454.627862 # Seafloor depth:-538.288773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 334.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 334.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 105.686954 meters # Minimum depth: 572.637296 meters looking forward 0.000000 meters along route # Maximum depth: 572.637296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.040424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805040; longitude = -121.990777; captureRadius = 10; duration = 105; initialDepth = 515.679025; finalDepth = 485.040424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.5968724999997 # Actual altitude: 87.5968724999997 # Commanded vehicle depth:485.0404235 # Seafloor depth:-572.637296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.28; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 105.686954 meters # Minimum depth: 603.635924 meters looking forward 0.000000 meters along route # Maximum depth: 603.635924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.679025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805515; longitude = -121.991758; captureRadius = 10; duration = 105; initialDepth = 545.732604; finalDepth = 515.679025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.9568986 # Actual altitude: 87.9568986 # Commanded vehicle depth:515.6790254 # Seafloor depth:-603.635924 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.39; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 105.686954 meters # Minimum depth: 609.227509 meters looking forward 0.000000 meters along route # Maximum depth: 609.227509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.732604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805981; longitude = -121.992720; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 556.856375; finalDepth = 545.732604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.9568986 # Actual altitude: 87.9568986 # Commanded vehicle depth:545.7326036 # Seafloor depth:-609.227509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.39; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 105.686954 meters # Minimum depth: 606.856375 meters looking forward 0.000000 meters along route # Maximum depth: 606.856375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.856375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806822; longitude = -121.993037; captureRadius = 10; duration = 105; initialDepth = 550.819125; finalDepth = 556.856375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.4949053999998 # Actual altitude: 63.4949053999998 # Commanded vehicle depth:556.856375 # Seafloor depth:-606.856375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 253.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.05; MB_Bottom_Detect_Filter_Max_Range = 253.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 105.686954 meters # Minimum depth: 600.819125 meters looking forward 0.000000 meters along route # Maximum depth: 600.819125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.819125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807723; longitude = -121.993376; captureRadius = 10; duration = 105; initialDepth = 545.853165; finalDepth = 550.819125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:550.819125 # Seafloor depth:-600.819125 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 105.686954 meters # Minimum depth: 595.853165 meters looking forward 0.000000 meters along route # Maximum depth: 595.853165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.853165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808609; longitude = -121.993710; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 543.025560; finalDepth = 545.853165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:545.853165 # Seafloor depth:-595.853165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 105.686954 meters # Minimum depth: 593.025560 meters looking forward 0.000000 meters along route # Maximum depth: 593.025560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.025560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808487; longitude = -121.994813; captureRadius = 10; duration = 105; initialDepth = 471.352601; finalDepth = 543.025560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:543.02556 # Seafloor depth:-593.025560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 105.686954 meters # Minimum depth: 521.352601 meters looking forward 0.000000 meters along route # Maximum depth: 521.352601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.352601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808362; longitude = -121.995933; captureRadius = 10; duration = 105; initialDepth = 407.680214; finalDepth = 471.352601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:471.352601 # Seafloor depth:-521.352601 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 105.686954 meters # Minimum depth: 457.680214 meters looking forward 0.000000 meters along route # Maximum depth: 457.680214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.680214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808234; longitude = -121.997092; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 419.181705; finalDepth = 407.680214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:407.680214 # Seafloor depth:-457.680214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 105.686954 meters # Minimum depth: 469.181705 meters looking forward 0.000000 meters along route # Maximum depth: 469.181705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.181705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807002; longitude = -121.997379; captureRadius = 10; duration = 105; initialDepth = 405.750504; finalDepth = 419.181705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:419.181705 # Seafloor depth:-469.181705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 105.686954 meters # Minimum depth: 455.750504 meters looking forward 0.000000 meters along route # Maximum depth: 455.750504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.750504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806101; longitude = -121.997589; captureRadius = 10; duration = 105; initialDepth = 394.341545; finalDepth = 405.750504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:405.750504 # Seafloor depth:-455.750504 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 105.686954 meters # Minimum depth: 444.341545 meters looking forward 0.000000 meters along route # Maximum depth: 444.341545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.341545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805185; longitude = -121.997802; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 423.634966; finalDepth = 394.341545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:394.341545 # Seafloor depth:-444.341545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 105.686954 meters # Minimum depth: 484.150613 meters looking forward 0.000000 meters along route # Maximum depth: 484.150613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.634966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804344; longitude = -121.998123; captureRadius = 10; duration = 105; initialDepth = 453.962643; finalDepth = 423.634966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.5156474999995 # Actual altitude: 60.5156474999995 # Commanded vehicle depth:423.6349655 # Seafloor depth:-484.150613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 242.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.15; MB_Bottom_Detect_Filter_Max_Range = 242.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 105.686954 meters # Minimum depth: 523.161767 meters looking forward 0.000000 meters along route # Maximum depth: 523.161767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.962643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803472; longitude = -121.998455; captureRadius = 10; duration = 105; initialDepth = 472.178072; finalDepth = 453.962643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1991238000004 # Actual altitude: 69.1991238000004 # Commanded vehicle depth:453.9626432 # Seafloor depth:-523.161767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 276.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 276.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 105.686954 meters # Minimum depth: 522.178072 meters looking forward 0.000000 meters along route # Maximum depth: 522.178072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.178072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802586; longitude = -121.998794; captureRadius = 10; duration = 105; initialDepth = 473.283481; finalDepth = 472.178072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1991238000004 # Actual altitude: 69.1991238000004 # Commanded vehicle depth:472.178072 # Seafloor depth:-522.178072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 276.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 276.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 105.686954 meters # Minimum depth: 523.283481 meters looking forward 0.000000 meters along route # Maximum depth: 523.283481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.283481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801710; longitude = -121.999128; captureRadius = 10; duration = 105; initialDepth = 485.577646; finalDepth = 473.283481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:473.283481 # Seafloor depth:-523.283481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 105.686954 meters # Minimum depth: 535.577646 meters looking forward 0.000000 meters along route # Maximum depth: 535.577646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.577646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800828; longitude = -121.999464; captureRadius = 10; duration = 105; initialDepth = 495.727746; finalDepth = 485.577646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:485.577646 # Seafloor depth:-535.577646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 105.686954 meters # Minimum depth: 545.727746 meters looking forward 0.000000 meters along route # Maximum depth: 545.727746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.727746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799928; longitude = -121.999808; captureRadius = 10; duration = 105; initialDepth = 527.102956; finalDepth = 495.727746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:495.727746 # Seafloor depth:-545.727746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 105.686954 meters # Minimum depth: 582.891713 meters looking forward 0.000000 meters along route # Maximum depth: 582.891713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.102956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799026; longitude = -122.000152; captureRadius = 10; duration = 105; initialDepth = 517.533154; finalDepth = 527.102956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7887568000001 # Actual altitude: 55.7887568000001 # Commanded vehicle depth:527.1029562 # Seafloor depth:-582.891713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 223.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.74; MB_Bottom_Detect_Filter_Max_Range = 223.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 105.686954 meters # Minimum depth: 567.533154 meters looking forward 0.000000 meters along route # Maximum depth: 567.533154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.533154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798125; longitude = -122.000496; captureRadius = 10; duration = 105; initialDepth = 511.294174; finalDepth = 517.533154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7887568000001 # Actual altitude: 55.7887568000001 # Commanded vehicle depth:517.533154 # Seafloor depth:-567.533154 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 223.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.74; MB_Bottom_Detect_Filter_Max_Range = 223.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 105.686954 meters # Minimum depth: 561.294174 meters looking forward 0.000000 meters along route # Maximum depth: 561.294174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.294174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797254; longitude = -122.000828; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 516.948346; finalDepth = 511.294174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:511.294174 # Seafloor depth:-561.294174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 105.686954 meters # Minimum depth: 566.948346 meters looking forward 0.000000 meters along route # Maximum depth: 566.948346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.948346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796638; longitude = -122.001324; captureRadius = 10; duration = 105; initialDepth = 547.322669; finalDepth = 516.948346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:516.948346 # Seafloor depth:-566.948346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 105.686954 meters # Minimum depth: 600.919497 meters looking forward 0.000000 meters along route # Maximum depth: 600.919497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.322669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795872; longitude = -122.001941; captureRadius = 10; duration = 105; initialDepth = 564.244703; finalDepth = 547.322669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5968277999999 # Actual altitude: 53.5968277999999 # Commanded vehicle depth:547.3226692 # Seafloor depth:-600.919497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 214.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.08; MB_Bottom_Detect_Filter_Max_Range = 214.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 105.686954 meters # Minimum depth: 614.244703 meters looking forward 0.000000 meters along route # Maximum depth: 614.244703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.244703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795106; longitude = -122.002558; captureRadius = 10; duration = 105; initialDepth = 550.643636; finalDepth = 564.244703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5968277999999 # Actual altitude: 53.5968277999999 # Commanded vehicle depth:564.244703 # Seafloor depth:-614.244703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 214.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.08; MB_Bottom_Detect_Filter_Max_Range = 214.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 105.686954 meters # Minimum depth: 600.643636 meters looking forward 0.000000 meters along route # Maximum depth: 600.643636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.643636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794340; longitude = -122.003174; captureRadius = 10; duration = 105; initialDepth = 533.526785; finalDepth = 550.643636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:550.643636 # Seafloor depth:-600.643636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 105.686954 meters # Minimum depth: 583.526785 meters looking forward 0.000000 meters along route # Maximum depth: 583.526785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.526785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793574; longitude = -122.003791; captureRadius = 10; duration = 105; initialDepth = 525.800338; finalDepth = 533.526785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:533.526785 # Seafloor depth:-583.526785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 105.686954 meters # Minimum depth: 575.800338 meters looking forward 0.000000 meters along route # Maximum depth: 575.800338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.800338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792808; longitude = -122.004408; captureRadius = 10; duration = 105; initialDepth = 556.175076; finalDepth = 525.800338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:525.800338 # Seafloor depth:-575.800338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 105.686954 meters # Minimum depth: 608.000847 meters looking forward 0.000000 meters along route # Maximum depth: 608.000847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.175076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792042; longitude = -122.005025; captureRadius = 10; duration = 105; initialDepth = 586.549897; finalDepth = 556.175076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8257708999992 # Actual altitude: 51.8257708999992 # Commanded vehicle depth:556.175076100001 # Seafloor depth:-608.000847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 207.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 207.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 105.686954 meters # Minimum depth: 652.743618 meters looking forward 0.000000 meters along route # Maximum depth: 652.743618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.549897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791276; longitude = -122.005642; captureRadius = 10; duration = 105; initialDepth = 616.924801; finalDepth = 586.549897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1937206999996 # Actual altitude: 66.1937206999996 # Commanded vehicle depth:586.5498973 # Seafloor depth:-652.743618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 264.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.86; MB_Bottom_Detect_Filter_Max_Range = 264.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 105.686954 meters # Minimum depth: 703.711892 meters looking forward 0.000000 meters along route # Maximum depth: 703.711892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.924801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790510; longitude = -122.006258; captureRadius = 10; duration = 105; initialDepth = 648.471807; finalDepth = 616.924801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.7870906999995 # Actual altitude: 86.7870906999995 # Commanded vehicle depth:616.924801300001 # Seafloor depth:-703.711892 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 347.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.04; MB_Bottom_Detect_Filter_Max_Range = 347.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 105.686954 meters # Minimum depth: 741.352158 meters looking forward 0.000000 meters along route # Maximum depth: 741.352158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.471807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789714; longitude = -122.006899; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 649.437317; finalDepth = 648.471807; 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: 92.8803508999999 # Actual altitude: 92.8803508999999 # Commanded vehicle depth:648.4718071 # Seafloor depth:-741.352158 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.86; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 105.686954 meters # Minimum depth: 699.437317 meters looking forward 0.000000 meters along route # Maximum depth: 699.437317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.437317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790299; longitude = -122.007964; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 614.327615; finalDepth = 649.437317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.8803508999999 # Actual altitude: 92.8803508999999 # Commanded vehicle depth:649.437317 # Seafloor depth:-699.437317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.86; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 105.686954 meters # Minimum depth: 664.327615 meters looking forward 0.000000 meters along route # Maximum depth: 664.327615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.327615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791456; longitude = -122.007119; captureRadius = 10; duration = 105; initialDepth = 554.325100; finalDepth = 614.327615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:614.327615 # Seafloor depth:-664.327615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 105.686954 meters # Minimum depth: 604.325100 meters looking forward 0.000000 meters along route # Maximum depth: 604.325100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.325100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792267; longitude = -122.006526; captureRadius = 10; duration = 105; initialDepth = 508.934089; finalDepth = 554.325100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:554.3251 # Seafloor depth:-604.325100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 105.686954 meters # Minimum depth: 558.934089 meters looking forward 0.000000 meters along route # Maximum depth: 558.934089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.934089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793078; longitude = -122.005933; captureRadius = 10; duration = 105; initialDepth = 476.765041; finalDepth = 508.934089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:508.934089 # Seafloor depth:-558.934089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 105.686954 meters # Minimum depth: 526.765041 meters looking forward 0.000000 meters along route # Maximum depth: 526.765041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.765041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793877; longitude = -122.005349; captureRadius = 10; duration = 105; initialDepth = 480.995233; finalDepth = 476.765041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:476.765041 # Seafloor depth:-526.765041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 105.686954 meters # Minimum depth: 530.995233 meters looking forward 0.000000 meters along route # Maximum depth: 530.995233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.995233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794655; longitude = -122.004780; captureRadius = 10; duration = 105; initialDepth = 495.118659; finalDepth = 480.995233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:480.995233 # Seafloor depth:-530.995233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 105.686954 meters # Minimum depth: 545.118659 meters looking forward 0.000000 meters along route # Maximum depth: 545.118659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.118659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795466; longitude = -122.004188; captureRadius = 10; duration = 105; initialDepth = 489.983860; finalDepth = 495.118659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:495.118659 # Seafloor depth:-545.118659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 105.686954 meters # Minimum depth: 539.983860 meters looking forward 0.000000 meters along route # Maximum depth: 539.983860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.983860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796255; longitude = -122.003612; captureRadius = 10; duration = 105; initialDepth = 468.382137; finalDepth = 489.983860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:489.98386 # Seafloor depth:-539.983860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 105.686954 meters # Minimum depth: 518.382137 meters looking forward 0.000000 meters along route # Maximum depth: 518.382137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.382137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797044; longitude = -122.003035; captureRadius = 10; duration = 105; initialDepth = 459.268639; finalDepth = 468.382137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:468.382137 # Seafloor depth:-518.382137 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 105.686954 meters # Minimum depth: 509.268639 meters looking forward 0.000000 meters along route # Maximum depth: 509.268639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.268639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797840; longitude = -122.002453; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 467.748949; finalDepth = 459.268639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:459.268639 # Seafloor depth:-509.268639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 105.686954 meters # Minimum depth: 517.748949 meters looking forward 0.000000 meters along route # Maximum depth: 517.748949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.748949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799297; longitude = -122.001873; captureRadius = 10; duration = 105; initialDepth = 463.704845; finalDepth = 467.748949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:467.748949 # Seafloor depth:-517.748949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 105.686954 meters # Minimum depth: 513.704845 meters looking forward 0.000000 meters along route # Maximum depth: 513.704845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.704845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800198; longitude = -122.001515; captureRadius = 10; duration = 105; initialDepth = 433.362129; finalDepth = 463.704845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:463.704845 # Seafloor depth:-513.704845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 105.686954 meters # Minimum depth: 483.362129 meters looking forward 0.000000 meters along route # Maximum depth: 483.362129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.362129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801099; longitude = -122.001156; captureRadius = 10; duration = 105; initialDepth = 418.744736; finalDepth = 433.362129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:433.362129 # Seafloor depth:-483.362129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 105.686954 meters # Minimum depth: 468.744736 meters looking forward 0.000000 meters along route # Maximum depth: 468.744736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.744736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801972; longitude = -122.000809; captureRadius = 10; duration = 105; initialDepth = 416.308511; finalDepth = 418.744736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:418.744736 # Seafloor depth:-468.744736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 105.686954 meters # Minimum depth: 466.308511 meters looking forward 0.000000 meters along route # Maximum depth: 466.308511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.308511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802857; longitude = -122.000457; captureRadius = 10; duration = 105; initialDepth = 430.548692; finalDepth = 416.308511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:416.308511 # Seafloor depth:-466.308511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 105.686954 meters # Minimum depth: 480.548692 meters looking forward 0.000000 meters along route # Maximum depth: 480.548692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.548692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803758; longitude = -122.000099; captureRadius = 10; duration = 105; initialDepth = 423.764668; finalDepth = 430.548692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:430.548692 # Seafloor depth:-480.548692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 105.686954 meters # Minimum depth: 473.764668 meters looking forward 0.000000 meters along route # Maximum depth: 473.764668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.764668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804648; longitude = -121.999744; captureRadius = 10; duration = 105; initialDepth = 395.698620; finalDepth = 423.764668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:423.764668 # Seafloor depth:-473.764668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 105.686954 meters # Minimum depth: 445.698620 meters looking forward 0.000000 meters along route # Maximum depth: 445.698620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.698620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805515; longitude = -121.999399; captureRadius = 10; duration = 105; initialDepth = 344.017799; finalDepth = 395.698620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:395.69862 # Seafloor depth:-445.698620 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 105.686954 meters # Minimum depth: 394.017799 meters looking forward 0.000000 meters along route # Maximum depth: 394.017799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.017799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806386; longitude = -121.999053; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 349.198061; finalDepth = 344.017799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:344.017799 # Seafloor depth:-394.017799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 105.686954 meters # Minimum depth: 399.198061 meters looking forward 0.000000 meters along route # Maximum depth: 399.198061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.198061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807318; longitude = -121.998699; captureRadius = 10; duration = 105; initialDepth = 354.920776; finalDepth = 349.198061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:349.198061 # Seafloor depth:-399.198061 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 105.686954 meters # Minimum depth: 404.920776 meters looking forward 0.000000 meters along route # Maximum depth: 404.920776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.920776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808204; longitude = -121.998362; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 392.054019; finalDepth = 354.920776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:354.920776 # Seafloor depth:-404.920776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 105.686954 meters # Minimum depth: 460.643761 meters looking forward 0.000000 meters along route # Maximum depth: 460.643761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.054019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808901; longitude = -121.997278; captureRadius = 10; duration = 105; initialDepth = 422.160605; finalDepth = 392.054019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5897422000002 # Actual altitude: 68.5897422000002 # Commanded vehicle depth:392.0540188 # Seafloor depth:-460.643761 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 274.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 274.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 105.686954 meters # Minimum depth: 492.959007 meters looking forward 0.000000 meters along route # Maximum depth: 492.959007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.160605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809466; longitude = -121.996400; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 447.811728; finalDepth = 422.160605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7984020999996 # Actual altitude: 70.7984020999996 # Commanded vehicle depth:422.1606049 # Seafloor depth:-492.959007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 283.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 283.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 105.686954 meters # Minimum depth: 518.727481 meters looking forward 0.000000 meters along route # Maximum depth: 518.727481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.811728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810112; longitude = -121.995877; captureRadius = 10; duration = 105; initialDepth = 478.202447; finalDepth = 447.811728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.9157531999992 # Actual altitude: 70.9157531999992 # Commanded vehicle depth:447.811727800001 # Seafloor depth:-518.727481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 283.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 283.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 105.686954 meters # Minimum depth: 552.285876 meters looking forward 0.000000 meters along route # Maximum depth: 552.285876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.202447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810878; longitude = -121.995258; captureRadius = 10; duration = 105; initialDepth = 509.230134; finalDepth = 478.202447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.0834287999993 # Actual altitude: 74.0834287999993 # Commanded vehicle depth:478.202447200001 # Seafloor depth:-552.285876 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 296.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.23; MB_Bottom_Detect_Filter_Max_Range = 296.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.33; 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 61 # Segment length 105.686954 meters # Minimum depth: 568.080551 meters looking forward 0.000000 meters along route # Maximum depth: 568.080551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.230134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811659; longitude = -121.994626; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 523.025513; finalDepth = 509.230134; 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: 74.0834287999993 # Actual altitude: 74.0834287999993 # Commanded vehicle depth:509.2301341 # Seafloor depth:-568.080551 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 296.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.23; MB_Bottom_Detect_Filter_Max_Range = 296.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 105.686954 meters # Minimum depth: 573.025513 meters looking forward 0.000000 meters along route # Maximum depth: 573.025513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.025513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811358; longitude = -121.993878; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 515.560181; finalDepth = 523.025513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.8504168999995 # Actual altitude: 58.8504168999995 # Commanded vehicle depth:523.025513 # Seafloor depth:-573.025513 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 235.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.66; MB_Bottom_Detect_Filter_Max_Range = 235.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 105.686954 meters # Minimum depth: 565.560181 meters looking forward 0.000000 meters along route # Maximum depth: 565.560181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.560181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810457; longitude = -121.994663; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 484.926744; finalDepth = 515.560181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:515.560181 # Seafloor depth:-565.560181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 105.686954 meters # Minimum depth: 534.926744 meters looking forward 0.000000 meters along route # Maximum depth: 534.926744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.926744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809703; longitude = -121.995373; captureRadius = 10; duration = 105; initialDepth = 457.647446; finalDepth = 484.926744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:484.926744 # Seafloor depth:-534.926744 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 105.686954 meters # Minimum depth: 507.647446 meters looking forward 0.000000 meters along route # Maximum depth: 507.647446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.647446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808970; longitude = -121.996064; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 459.059853; finalDepth = 457.647446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:457.647446 # Seafloor depth:-507.647446 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 105.686954 meters # Minimum depth: 509.059853 meters looking forward 0.000000 meters along route # Maximum depth: 509.059853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.059853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807708; longitude = -121.996176; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 485.015359; finalDepth = 459.059853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:459.059853 # Seafloor depth:-509.059853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 105.686954 meters # Minimum depth: 535.015359 meters looking forward 0.000000 meters along route # Maximum depth: 535.015359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.015359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806416; longitude = -121.996209; captureRadius = 10; duration = 105; initialDepth = 490.779022; finalDepth = 485.015359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:485.015359 # Seafloor depth:-535.015359 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 105.686954 meters # Minimum depth: 540.779022 meters looking forward 0.000000 meters along route # Maximum depth: 540.779022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.779022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805500; longitude = -121.996232; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 502.533923; finalDepth = 490.779022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:490.779022 # Seafloor depth:-540.779022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 105.686954 meters # Minimum depth: 552.533923 meters looking forward 0.000000 meters along route # Maximum depth: 552.533923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.533923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804434; longitude = -121.996413; captureRadius = 10; duration = 105; initialDepth = 522.522736; finalDepth = 502.533923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:502.533923 # Seafloor depth:-552.533923 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 105.686954 meters # Minimum depth: 572.522736 meters looking forward 0.000000 meters along route # Maximum depth: 572.522736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.522736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803517; longitude = -121.996569; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 543.818061; finalDepth = 522.522736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:522.522736 # Seafloor depth:-572.522736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 105.686954 meters # Minimum depth: 593.818061 meters looking forward 0.000000 meters along route # Maximum depth: 593.818061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.818061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802721; longitude = -121.996999; captureRadius = 10; duration = 105; initialDepth = 528.847812; finalDepth = 543.818061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:543.818061 # Seafloor depth:-593.818061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 105.686954 meters # Minimum depth: 578.847812 meters looking forward 0.000000 meters along route # Maximum depth: 578.847812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.847812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801891; longitude = -121.997447; captureRadius = 10; duration = 105; initialDepth = 541.483096; finalDepth = 528.847812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:528.847812 # Seafloor depth:-578.847812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 105.686954 meters # Minimum depth: 591.483096 meters looking forward 0.000000 meters along route # Maximum depth: 591.483096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.483096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801054; longitude = -121.997899; captureRadius = 10; duration = 105; initialDepth = 546.058551; finalDepth = 541.483096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:541.483096 # Seafloor depth:-591.483096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 105.686954 meters # Minimum depth: 596.058551 meters looking forward 0.000000 meters along route # Maximum depth: 596.058551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.058551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800198; longitude = -121.998361; captureRadius = 10; duration = 105; initialDepth = 541.488151; finalDepth = 546.058551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:546.058551 # Seafloor depth:-596.058551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 105.686954 meters # Minimum depth: 591.488151 meters looking forward 0.000000 meters along route # Maximum depth: 591.488151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.488151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799342; longitude = -121.998823; captureRadius = 10; duration = 105; initialDepth = 571.992057; finalDepth = 541.488151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:541.488151 # Seafloor depth:-591.488151 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # 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 105.686954 meters # Minimum depth: 623.021042 meters looking forward 0.000000 meters along route # Maximum depth: 623.021042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.992057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798501; longitude = -121.999277; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 525.015331; finalDepth = 571.992057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0289852000001 # Actual altitude: 51.0289852000001 # Commanded vehicle depth:571.9920568 # Seafloor depth:-623.021042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 204.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.31; MB_Bottom_Detect_Filter_Max_Range = 204.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 105.686954 meters # Minimum depth: 575.015331 meters looking forward 0.000000 meters along route # Maximum depth: 575.015331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.015331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798526; longitude = -122.000361; captureRadius = 10; duration = 105; initialDepth = 477.969649; finalDepth = 525.015331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0289852000001 # Actual altitude: 51.0289852000001 # Commanded vehicle depth:525.015331 # Seafloor depth:-575.015331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 204.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.31; MB_Bottom_Detect_Filter_Max_Range = 204.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 105.686954 meters # Minimum depth: 527.969649 meters looking forward 0.000000 meters along route # Maximum depth: 527.969649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.969649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798553; longitude = -122.001482; captureRadius = 10; duration = 105; initialDepth = 441.177304; finalDepth = 477.969649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:477.969649 # Seafloor depth:-527.969649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 105.686954 meters # Minimum depth: 491.177304 meters looking forward 0.000000 meters along route # Maximum depth: 491.177304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.177304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798579; longitude = -122.002603; captureRadius = 10; duration = 105; initialDepth = 417.675110; finalDepth = 441.177304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:441.177304 # Seafloor depth:-491.177304 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # 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 105.686954 meters # Minimum depth: 467.675110 meters looking forward 0.000000 meters along route # Maximum depth: 467.675110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.675110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798606; longitude = -122.003742; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 434.137483; finalDepth = 417.675110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:417.67511 # Seafloor depth:-467.675110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 105.686954 meters # Minimum depth: 484.137483 meters looking forward 0.000000 meters along route # Maximum depth: 484.137483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.137483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797404; longitude = -122.004572; captureRadius = 10; duration = 105; initialDepth = 444.678647; finalDepth = 434.137483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:434.137483 # Seafloor depth:-484.137483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 105.686954 meters # Minimum depth: 494.678647 meters looking forward 0.000000 meters along route # Maximum depth: 494.678647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.678647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796593; longitude = -122.005133; captureRadius = 10; duration = 105; initialDepth = 466.272532; finalDepth = 444.678647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:444.678647 # Seafloor depth:-494.678647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 105.686954 meters # Minimum depth: 516.272532 meters looking forward 0.000000 meters along route # Maximum depth: 516.272532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.272532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795782; longitude = -122.005693; captureRadius = 10; duration = 105; initialDepth = 479.533446; finalDepth = 466.272532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:466.272532 # Seafloor depth:-516.272532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 105.686954 meters # Minimum depth: 529.533446 meters looking forward 0.000000 meters along route # Maximum depth: 529.533446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.533446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794971; longitude = -122.006254; captureRadius = 10; duration = 105; initialDepth = 492.116137; finalDepth = 479.533446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:479.533446 # Seafloor depth:-529.533446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 105.686954 meters # Minimum depth: 542.116137 meters looking forward 0.000000 meters along route # Maximum depth: 542.116137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.116137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794160; longitude = -122.006814; captureRadius = 10; duration = 105; initialDepth = 511.875092; finalDepth = 492.116137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:492.116137 # Seafloor depth:-542.116137 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 105.686954 meters # Minimum depth: 561.875092 meters looking forward 0.000000 meters along route # Maximum depth: 561.875092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.875092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793333; longitude = -122.007385; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 553.378217; finalDepth = 511.875092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:511.875092 # Seafloor depth:-561.875092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 105.686954 meters # Minimum depth: 615.891512 meters looking forward 0.000000 meters along route # Maximum depth: 615.891512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.378217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792165; longitude = -122.007927; captureRadius = 10; duration = 105; initialDepth = 583.421641; finalDepth = 553.378217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.5132950000001 # Actual altitude: 62.5132950000001 # Commanded vehicle depth:553.378217 # Seafloor depth:-615.891512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 250.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.75; MB_Bottom_Detect_Filter_Max_Range = 250.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 105.686954 meters # Minimum depth: 652.057796 meters looking forward 0.000000 meters along route # Maximum depth: 652.057796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.421641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791319; longitude = -122.008319; captureRadius = 10; duration = 105; initialDepth = 613.770484; finalDepth = 583.421641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6361548999995 # Actual altitude: 68.6361548999995 # Commanded vehicle depth:583.421641100001 # Seafloor depth:-652.057796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 274.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 274.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 105.686954 meters # Minimum depth: 677.242842 meters looking forward 0.000000 meters along route # Maximum depth: 677.242842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.770484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790465; longitude = -122.008716; captureRadius = 10; duration = 105; initialDepth = 644.184180; finalDepth = 613.770484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6361548999995 # Actual altitude: 68.6361548999995 # Commanded vehicle depth:613.7704838 # Seafloor depth:-677.242842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 274.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 274.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 105.686954 meters # Minimum depth: 696.846102 meters looking forward 0.000000 meters along route # Maximum depth: 696.846102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.184180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789608; longitude = -122.009113; captureRadius = 10; duration = 105; initialDepth = 665.152385; finalDepth = 644.184180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.4723581999996 # Actual altitude: 63.4723581999996 # Commanded vehicle depth:644.1841796 # Seafloor depth:-696.846102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 253.89; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.04; MB_Bottom_Detect_Filter_Max_Range = 253.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 105.686954 meters # Minimum depth: 715.152385 meters looking forward 0.000000 meters along route # Maximum depth: 715.152385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.152385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788752; longitude = -122.009510; captureRadius = 10; duration = 105; initialDepth = 669.002778; finalDepth = 665.152385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6619223999996 # Actual altitude: 52.6619223999996 # Commanded vehicle depth:665.152385 # Seafloor depth:-715.152385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 210.65; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.80; MB_Bottom_Detect_Filter_Max_Range = 210.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 105.686954 meters # Minimum depth: 719.002778 meters looking forward 0.000000 meters along route # Maximum depth: 719.002778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.002778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787896; longitude = -122.009907; captureRadius = 10; duration = 105; initialDepth = 656.159088; finalDepth = 669.002778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:669.002778 # Seafloor depth:-719.002778 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # 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 105.686954 meters # Minimum depth: 706.159088 meters looking forward 0.000000 meters along route # Maximum depth: 706.159088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.159088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787010; longitude = -122.010318; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 689.786041; finalDepth = 656.159088; 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: 50 # Actual altitude: 50 # Commanded vehicle depth:656.159088 # Seafloor depth:-706.159088 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 105.686954 meters # Minimum depth: 739.786041 meters looking forward 0.000000 meters along route # Maximum depth: 739.786041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.786041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786154; longitude = -122.008805; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 726.419074; finalDepth = 689.786041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:689.786041 # Seafloor depth:-739.786041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 105.686954 meters # Minimum depth: 776.419074 meters looking forward 0.000000 meters along route # Maximum depth: 776.419074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.419074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787085; longitude = -122.008066; captureRadius = 10; duration = 105; initialDepth = 716.826003; finalDepth = 726.419074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:726.419074 # Seafloor depth:-776.419074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 105.686954 meters # Minimum depth: 766.826003 meters looking forward 0.000000 meters along route # Maximum depth: 766.826003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.826003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787851; longitude = -122.007457; captureRadius = 10; duration = 105; initialDepth = 722.670349; finalDepth = 716.826003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:716.826003 # Seafloor depth:-766.826003 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 105.686954 meters # Minimum depth: 772.670349 meters looking forward 0.000000 meters along route # Maximum depth: 772.670349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.670349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788647; longitude = -122.006825; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 688.877016; finalDepth = 722.670349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:722.670349 # Seafloor depth:-772.670349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 105.686954 meters # Minimum depth: 738.877016 meters looking forward 0.000000 meters along route # Maximum depth: 738.877016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.877016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789705; longitude = -122.005741; captureRadius = 10; duration = 105; initialDepth = 668.919250; finalDepth = 688.877016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:688.877016 # Seafloor depth:-738.877016 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 105.686954 meters # Minimum depth: 718.919250 meters looking forward 0.000000 meters along route # Maximum depth: 718.919250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.919250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790435; longitude = -122.004994; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 634.849446; finalDepth = 668.919250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:668.91925 # Seafloor depth:-718.919250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 105.686954 meters # Minimum depth: 684.849446 meters looking forward 0.000000 meters along route # Maximum depth: 684.849446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.849446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791108; longitude = -122.004284; captureRadius = 10; duration = 105; initialDepth = 605.015756; finalDepth = 634.849446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:634.849446 # Seafloor depth:-684.849446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 105.686954 meters # Minimum depth: 655.015756 meters looking forward 0.000000 meters along route # Maximum depth: 655.015756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.015756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791816; longitude = -122.003537; captureRadius = 10; duration = 105; initialDepth = 575.918915; finalDepth = 605.015756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:605.015756 # Seafloor depth:-655.015756 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 105.686954 meters # Minimum depth: 625.918915 meters looking forward 0.000000 meters along route # Maximum depth: 625.918915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.918915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792507; longitude = -122.002808; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 622.185510; finalDepth = 575.918915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:575.918915 # Seafloor depth:-625.918915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 105.686954 meters # Minimum depth: 672.185510 meters looking forward 0.000000 meters along route # Maximum depth: 672.185510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.185510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793709; longitude = -122.001796; captureRadius = 10; duration = 105; initialDepth = 623.262375; finalDepth = 622.185510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:622.18551 # Seafloor depth:-672.185510 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 105.686954 meters # Minimum depth: 673.262375 meters looking forward 0.000000 meters along route # Maximum depth: 673.262375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.262375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794460; longitude = -122.001164; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 595.980902; finalDepth = 623.262375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:623.262375 # Seafloor depth:-673.262375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 105.686954 meters # Minimum depth: 645.980902 meters looking forward 0.000000 meters along route # Maximum depth: 645.980902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.980902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795466; longitude = -122.000573; captureRadius = 10; duration = 105; initialDepth = 577.975218; finalDepth = 595.980902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:595.980902 # Seafloor depth:-645.980902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 105.686954 meters # Minimum depth: 627.975218 meters looking forward 0.000000 meters along route # Maximum depth: 627.975218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.975218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796305; longitude = -122.000081; captureRadius = 10; duration = 105; initialDepth = 580.618747; finalDepth = 577.975218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:577.975218 # Seafloor depth:-627.975218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 105.686954 meters # Minimum depth: 630.618747 meters looking forward 0.000000 meters along route # Maximum depth: 630.618747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.618747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797134; longitude = -121.999594; captureRadius = 10; duration = 105; initialDepth = 586.347275; finalDepth = 580.618747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:580.618747 # Seafloor depth:-630.618747 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 105.686954 meters # Minimum depth: 636.347275 meters looking forward 0.000000 meters along route # Maximum depth: 636.347275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.347275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797960; longitude = -121.999109; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 573.905344; finalDepth = 586.347275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:586.347275 # Seafloor depth:-636.347275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 105.686954 meters # Minimum depth: 623.905344 meters looking forward 0.000000 meters along route # Maximum depth: 623.905344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.905344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798981; longitude = -121.998520; captureRadius = 10; duration = 105; initialDepth = 563.935059; finalDepth = 573.905344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:573.905344 # Seafloor depth:-623.905344 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 105.686954 meters # Minimum depth: 613.935059 meters looking forward 0.000000 meters along route # Maximum depth: 613.935059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.935059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799807; longitude = -121.998044; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 600.848498; finalDepth = 563.935059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:563.935059 # Seafloor depth:-613.935059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 105.686954 meters # Minimum depth: 650.848498 meters looking forward 0.000000 meters along route # Maximum depth: 650.848498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.848498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800288; longitude = -121.996671; captureRadius = 10; duration = 105; initialDepth = 597.408815; finalDepth = 600.848498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:600.848498 # Seafloor depth:-650.848498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 105.686954 meters # Minimum depth: 647.408815 meters looking forward 0.000000 meters along route # Maximum depth: 647.408815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.408815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800648; longitude = -121.995642; captureRadius = 10; duration = 105; initialDepth = 595.411896; finalDepth = 597.408815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:597.408815 # Seafloor depth:-647.408815 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 105.686954 meters # Minimum depth: 645.411896 meters looking forward 0.000000 meters along route # Maximum depth: 645.411896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.411896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801024; longitude = -121.994570; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 593.566311; finalDepth = 595.411896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:595.411896 # Seafloor depth:-645.411896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 105.686954 meters # Minimum depth: 643.566311 meters looking forward 0.000000 meters along route # Maximum depth: 643.566311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.566311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800822; longitude = -121.993692; captureRadius = 10; duration = 105; initialDepth = 565.833023; finalDepth = 593.566311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:593.566311 # Seafloor depth:-643.566311 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # 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 105.686954 meters # Minimum depth: 615.833023 meters looking forward 0.000000 meters along route # Maximum depth: 615.833023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.833023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800573; longitude = -121.992608; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 576.802490; finalDepth = 565.833023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:565.833023 # Seafloor depth:-615.833023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.686954 meters # Minimum depth: 626.802490 meters looking forward 0.000000 meters along route # Maximum depth: 626.802490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.802490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799792; longitude = -121.993081; captureRadius = 10; duration = 105; initialDepth = 598.738926; finalDepth = 576.802490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:576.80249 # Seafloor depth:-626.802490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.686954 meters # Minimum depth: 648.738926 meters looking forward 0.000000 meters along route # Maximum depth: 648.738926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.738926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798981; longitude = -121.993572; captureRadius = 10; duration = 105; initialDepth = 610.108997; finalDepth = 598.738926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:598.738926 # Seafloor depth:-648.738926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.686954 meters # Minimum depth: 660.108997 meters looking forward 0.000000 meters along route # Maximum depth: 660.108997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.108997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798170; longitude = -121.994063; captureRadius = 10; duration = 105; initialDepth = 619.097243; finalDepth = 610.108997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:610.108997 # Seafloor depth:-660.108997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.686954 meters # Minimum depth: 669.097243 meters looking forward 0.000000 meters along route # Maximum depth: 669.097243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.097243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797359; longitude = -121.994555; captureRadius = 10; duration = 105; initialDepth = 625.456329; finalDepth = 619.097243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:619.097243 # Seafloor depth:-669.097243 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 105.686954 meters # Minimum depth: 675.456329 meters looking forward 0.000000 meters along route # Maximum depth: 675.456329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.456329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796533; longitude = -121.995055; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 627.197909; finalDepth = 625.456329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:625.456329 # Seafloor depth:-675.456329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 105.686954 meters # Minimum depth: 677.197909 meters looking forward 0.000000 meters along route # Maximum depth: 677.197909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.197909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795733; longitude = -121.995597; captureRadius = 10; duration = 105; initialDepth = 629.749507; finalDepth = 627.197909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:627.197909 # Seafloor depth:-677.197909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 105.686954 meters # Minimum depth: 679.749507 meters looking forward 0.000000 meters along route # Maximum depth: 679.749507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.749507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794926; longitude = -121.996144; captureRadius = 10; duration = 105; initialDepth = 641.929286; finalDepth = 629.749507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:629.749507 # Seafloor depth:-679.749507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 105.686954 meters # Minimum depth: 691.929286 meters looking forward 0.000000 meters along route # Maximum depth: 691.929286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.929286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794115; longitude = -121.996693; captureRadius = 10; duration = 105; initialDepth = 641.496970; finalDepth = 641.929286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:641.929286 # Seafloor depth:-691.929286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 105.686954 meters # Minimum depth: 691.496970 meters looking forward 0.000000 meters along route # Maximum depth: 691.496970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.496970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793303; longitude = -121.997242; captureRadius = 10; duration = 105; initialDepth = 648.284882; finalDepth = 641.496970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:641.49697 # Seafloor depth:-691.496970 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 105.686954 meters # Minimum depth: 698.284882 meters looking forward 0.000000 meters along route # Maximum depth: 698.284882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.284882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792477; longitude = -121.997802; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 669.035435; finalDepth = 648.284882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:648.284882 # Seafloor depth:-698.284882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 105.686954 meters # Minimum depth: 719.035435 meters looking forward 0.000000 meters along route # Maximum depth: 719.035435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.035435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791186; longitude = -121.997825; captureRadius = 10; duration = 105; initialDepth = 681.712503; finalDepth = 669.035435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:669.035435 # Seafloor depth:-719.035435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 105.686954 meters # Minimum depth: 731.712503 meters looking forward 0.000000 meters along route # Maximum depth: 731.712503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.712503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790239; longitude = -121.997842; captureRadius = 10; duration = 105; initialDepth = 684.530587; finalDepth = 681.712503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:681.712503 # Seafloor depth:-731.712503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 105.686954 meters # Minimum depth: 734.530587 meters looking forward 0.000000 meters along route # Maximum depth: 734.530587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.530587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789293; longitude = -121.997859; captureRadius = 10; duration = 105; initialDepth = 666.538910; finalDepth = 684.530587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:684.530587 # Seafloor depth:-734.530587 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 105.686954 meters # Minimum depth: 716.538910 meters looking forward 0.000000 meters along route # Maximum depth: 716.538910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.538910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788362; longitude = -121.997876; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 692.815888; finalDepth = 666.538910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:666.53891 # Seafloor depth:-716.538910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 105.686954 meters # Minimum depth: 745.113057 meters looking forward 0.000000 meters along route # Maximum depth: 745.113057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.815888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787581; longitude = -121.997736; captureRadius = 10; duration = 105; initialDepth = 674.234002; finalDepth = 692.815888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2971689000003 # Actual altitude: 52.2971689000003 # Commanded vehicle depth:692.8158881 # Seafloor depth:-745.113057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 209.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 209.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 105.686954 meters # Minimum depth: 724.234002 meters looking forward 0.000000 meters along route # Maximum depth: 724.234002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.234002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786679; longitude = -121.997574; captureRadius = 10; duration = 105; initialDepth = 675.028152; finalDepth = 674.234002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2971689000003 # Actual altitude: 52.2971689000003 # Commanded vehicle depth:674.234002 # Seafloor depth:-724.234002 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 209.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 209.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 105.686954 meters # Minimum depth: 725.028152 meters looking forward 0.000000 meters along route # Maximum depth: 725.028152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.028152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785763; longitude = -121.997409; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 703.619003; finalDepth = 675.028152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:675.028152 # Seafloor depth:-725.028152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 105.686954 meters # Minimum depth: 766.330808 meters looking forward 0.000000 meters along route # Maximum depth: 766.330808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.619003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785051; longitude = -121.998007; captureRadius = 10; duration = 105; initialDepth = 734.156788; finalDepth = 703.619003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.7118049000003 # Actual altitude: 62.7118049000003 # Commanded vehicle depth:703.6190031 # Seafloor depth:-766.330808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 250.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.81; MB_Bottom_Detect_Filter_Max_Range = 250.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 105.686954 meters # Minimum depth: 791.921132 meters looking forward 0.000000 meters along route # Maximum depth: 791.921132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.156788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784291; longitude = -121.998646; captureRadius = 10; duration = 105; initialDepth = 755.411530; finalDepth = 734.156788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.7118049000003 # Actual altitude: 62.7118049000003 # Commanded vehicle depth:734.1567876 # Seafloor depth:-791.921132 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 250.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.81; MB_Bottom_Detect_Filter_Max_Range = 250.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 105.686954 meters # Minimum depth: 805.411530 meters looking forward 0.000000 meters along route # Maximum depth: 805.411530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.411530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783540; longitude = -121.999277; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 784.814888; finalDepth = 755.411530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.7643444000001 # Actual altitude: 57.7643444000001 # Commanded vehicle depth:755.41153 # Seafloor depth:-805.411530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 231.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.33; MB_Bottom_Detect_Filter_Max_Range = 231.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 105.686954 meters # Minimum depth: 838.605937 meters looking forward 0.000000 meters along route # Maximum depth: 838.605937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.814888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782894; longitude = -122.000026; captureRadius = 10; duration = 105; initialDepth = 804.290246; finalDepth = 784.814888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7910487999999 # Actual altitude: 53.7910487999999 # Commanded vehicle depth:784.8148882 # Seafloor depth:-838.605937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 215.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.14; 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 37 # Segment length 105.686954 meters # Minimum depth: 854.290246 meters looking forward 0.000000 meters along route # Maximum depth: 854.290246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.290246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782218; longitude = -122.000811; captureRadius = 10; duration = 105; initialDepth = 818.821579; finalDepth = 804.290246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7910487999999 # Actual altitude: 53.7910487999999 # Commanded vehicle depth:804.290246 # Seafloor depth:-854.290246 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 215.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.14; 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; } # ####################################################### # 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 105.686954 meters # Minimum depth: 868.821579 meters looking forward 0.000000 meters along route # Maximum depth: 868.821579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 818.821579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781527; longitude = -122.001613; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 855.678085; finalDepth = 818.821579; 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: 50 # Actual altitude: 50 # Commanded vehicle depth:818.821579 # Seafloor depth:-868.821579 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 105.686954 meters # Minimum depth: 905.678085 meters looking forward 0.000000 meters along route # Maximum depth: 905.678085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.678085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782053; longitude = -122.003144; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 850.320495; finalDepth = 855.678085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:855.678085 # Seafloor depth:-905.678085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 105.686954 meters # Minimum depth: 900.320495 meters looking forward 0.000000 meters along route # Maximum depth: 900.320495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.320495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783300; longitude = -122.002658; captureRadius = 10; duration = 105; initialDepth = 849.975563; finalDepth = 850.320495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:850.320495 # Seafloor depth:-900.320495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 105.686954 meters # Minimum depth: 899.975563 meters looking forward 0.000000 meters along route # Maximum depth: 899.975563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.975563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784201; longitude = -122.002307; captureRadius = 10; duration = 105; initialDepth = 813.027725; finalDepth = 849.975563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:849.975563 # Seafloor depth:-899.975563 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 105.686954 meters # Minimum depth: 863.027725 meters looking forward 0.000000 meters along route # Maximum depth: 863.027725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.027725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785072; longitude = -122.001968; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 756.344055; finalDepth = 813.027725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:813.027725 # Seafloor depth:-863.027725 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 105.686954 meters # Minimum depth: 806.344055 meters looking forward 0.000000 meters along route # Maximum depth: 806.344055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.344055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786439; longitude = -122.000940; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 738.574407; finalDepth = 756.344055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:756.344055 # Seafloor depth:-806.344055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 105.686954 meters # Minimum depth: 788.574407 meters looking forward 0.000000 meters along route # Maximum depth: 788.574407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.574407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787671; longitude = -122.000247; captureRadius = 10; duration = 105; initialDepth = 711.655945; finalDepth = 738.574407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:738.574407 # Seafloor depth:-788.574407 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 105.686954 meters # Minimum depth: 761.655945 meters looking forward 0.000000 meters along route # Maximum depth: 761.655945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.655945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788497; longitude = -121.999782; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 680.924953; finalDepth = 711.655945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:711.655945 # Seafloor depth:-761.655945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 105.686954 meters # Minimum depth: 730.924953 meters looking forward 0.000000 meters along route # Maximum depth: 730.924953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.924953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789293; longitude = -121.999884; captureRadius = 10; duration = 105; initialDepth = 673.952858; finalDepth = 680.924953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:680.924953 # Seafloor depth:-730.924953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 105.686954 meters # Minimum depth: 723.952858 meters looking forward 0.000000 meters along route # Maximum depth: 723.952858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.952858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790194; longitude = -122.000000; captureRadius = 10; duration = 105; initialDepth = 703.389908; finalDepth = 673.952858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:673.952858 # Seafloor depth:-723.952858 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 105.686954 meters # Minimum depth: 753.389908 meters looking forward 0.000000 meters along route # Maximum depth: 753.389908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.389908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791110; longitude = -122.000118; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 712.749084; finalDepth = 703.389908; 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: 50 # Actual altitude: 50 # Commanded vehicle depth:703.389908 # Seafloor depth:-753.389908 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 105.686954 meters # Minimum depth: 762.749084 meters looking forward 0.000000 meters along route # Maximum depth: 762.749084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.749084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791696; longitude = -121.999277; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 724.655083; finalDepth = 712.749084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:712.749084 # Seafloor depth:-762.749084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 105.686954 meters # Minimum depth: 774.655083 meters looking forward 0.000000 meters along route # Maximum depth: 774.655083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.655083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790239; longitude = -121.998929; captureRadius = 10; duration = 105; initialDepth = 736.020950; finalDepth = 724.655083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:724.655083 # Seafloor depth:-774.655083 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 105.686954 meters # Minimum depth: 786.020950 meters looking forward 0.000000 meters along route # Maximum depth: 786.020950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.020950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789353; longitude = -121.998717; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 757.572189; finalDepth = 736.020950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:736.02095 # Seafloor depth:-786.020950 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 105.686954 meters # Minimum depth: 807.572189 meters looking forward 0.000000 meters along route # Maximum depth: 807.572189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.572189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788226; longitude = -121.999165; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 747.368988; finalDepth = 757.572189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:757.572189 # Seafloor depth:-807.572189 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 105.686954 meters # Minimum depth: 797.368988 meters looking forward 0.000000 meters along route # Maximum depth: 797.368988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.368988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787280; longitude = -121.998829; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 730.154587; finalDepth = 747.368988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:747.368988 # Seafloor depth:-797.368988 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 105.686954 meters # Minimum depth: 780.154587 meters looking forward 0.000000 meters along route # Maximum depth: 780.154587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.154587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785838; longitude = -121.998773; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 754.315647; finalDepth = 730.154587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:730.154587 # Seafloor depth:-780.154587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 105.686954 meters # Minimum depth: 817.619327 meters looking forward 0.000000 meters along route # Maximum depth: 817.619327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.315647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785237; longitude = -121.999280; captureRadius = 10; duration = 105; initialDepth = 784.467918; finalDepth = 754.315647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.3036798999998 # Actual altitude: 63.3036798999998 # Commanded vehicle depth:754.3156471 # Seafloor depth:-817.619327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 253.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.99; MB_Bottom_Detect_Filter_Max_Range = 253.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 105.686954 meters # Minimum depth: 841.810352 meters looking forward 0.000000 meters along route # Maximum depth: 841.810352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.467918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784488; longitude = -121.999913; captureRadius = 10; duration = 105; initialDepth = 803.281998; finalDepth = 784.467918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.3036798999998 # Actual altitude: 63.3036798999998 # Commanded vehicle depth:784.4679184 # Seafloor depth:-841.810352 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 253.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.99; MB_Bottom_Detect_Filter_Max_Range = 253.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 105.686954 meters # Minimum depth: 853.281998 meters looking forward 0.000000 meters along route # Maximum depth: 853.281998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.281998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783735; longitude = -122.000548; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 839.935410; finalDepth = 803.281998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.3424335999997 # Actual altitude: 57.3424335999997 # Commanded vehicle depth:803.281998 # Seafloor depth:-853.281998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 229.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.20; MB_Bottom_Detect_Filter_Max_Range = 229.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 105.686954 meters # Minimum depth: 889.935410 meters looking forward 0.000000 meters along route # Maximum depth: 889.935410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.935410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782534; longitude = -122.001860; captureRadius = 10; duration = 105; initialDepth = 847.901096; finalDepth = 839.935410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:839.93541 # Seafloor depth:-889.935410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 105.686954 meters # Minimum depth: 897.901096 meters looking forward 0.000000 meters along route # Maximum depth: 897.901096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.901096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781854; longitude = -122.002603; captureRadius = 10; duration = 105; initialDepth = 859.551773; finalDepth = 847.901096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:847.901096 # Seafloor depth:-897.901096 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 105.686954 meters # Minimum depth: 909.551773 meters looking forward 0.000000 meters along route # Maximum depth: 909.551773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.551773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781152; longitude = -122.003369; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 880.286880; finalDepth = 859.551773; 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: 50 # Actual altitude: 50 # Commanded vehicle depth:859.551773 # Seafloor depth:-909.551773 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 105.686954 meters # Minimum depth: 930.286880 meters looking forward 0.000000 meters along route # Maximum depth: 930.286880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.286880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781242; longitude = -122.004546; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 886.734799; finalDepth = 880.286880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:880.28688 # Seafloor depth:-930.286880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 105.686954 meters # Minimum depth: 936.734799 meters looking forward 0.000000 meters along route # Maximum depth: 936.734799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.734799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782714; longitude = -122.004182; captureRadius = 10; duration = 105; initialDepth = 866.274403; finalDepth = 886.734799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:886.734799 # Seafloor depth:-936.734799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 105.686954 meters # Minimum depth: 916.274403 meters looking forward 0.000000 meters along route # Maximum depth: 916.274403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.274403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783615; longitude = -122.003960; captureRadius = 10; duration = 105; initialDepth = 824.689554; finalDepth = 866.274403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:866.274403 # Seafloor depth:-916.274403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 105.686954 meters # Minimum depth: 874.689554 meters looking forward 0.000000 meters along route # Maximum depth: 874.689554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 824.689554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784516; longitude = -122.003737; captureRadius = 10; duration = 105; initialDepth = 788.789139; finalDepth = 824.689554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:824.689554 # Seafloor depth:-874.689554 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 105.686954 meters # Minimum depth: 838.789139 meters looking forward 0.000000 meters along route # Maximum depth: 838.789139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.789139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785403; longitude = -122.003518; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 747.937737; finalDepth = 788.789139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:788.789139 # Seafloor depth:-838.789139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 105.686954 meters # Minimum depth: 797.937737 meters looking forward 0.000000 meters along route # Maximum depth: 797.937737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.937737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786499; longitude = -122.002478; captureRadius = 10; duration = 105; initialDepth = 725.886295; finalDepth = 747.937737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:747.937737 # Seafloor depth:-797.937737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 105.686954 meters # Minimum depth: 775.886295 meters looking forward 0.000000 meters along route # Maximum depth: 775.886295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.886295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787220; longitude = -122.001793; captureRadius = 10; duration = 105; initialDepth = 712.226900; finalDepth = 725.886295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:725.886295 # Seafloor depth:-775.886295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 105.686954 meters # Minimum depth: 762.226900 meters looking forward 0.000000 meters along route # Maximum depth: 762.226900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.226900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787941; longitude = -122.001109; captureRadius = 10; duration = 105; initialDepth = 693.153940; finalDepth = 712.226900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:712.2269 # Seafloor depth:-762.226900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 105.686954 meters # Minimum depth: 743.153940 meters looking forward 0.000000 meters along route # Maximum depth: 743.153940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.153940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788670; longitude = -122.000417; captureRadius = 10; duration = 105; initialDepth = 684.444458; finalDepth = 693.153940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:693.15394 # Seafloor depth:-743.153940 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 105.686954 meters # Minimum depth: 734.444458 meters looking forward 0.000000 meters along route # Maximum depth: 734.444458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.444458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789398; longitude = -121.999726; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 676.981201; finalDepth = 684.444458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:684.444458 # Seafloor depth:-734.444458 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 105.686954 meters # Minimum depth: 726.981201 meters looking forward 0.000000 meters along route # Maximum depth: 726.981201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.981201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790089; longitude = -121.999651; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 687.041260; finalDepth = 676.981201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:676.981201 # Seafloor depth:-726.981201 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 105.686954 meters # Minimum depth: 737.041260 meters looking forward 0.000000 meters along route # Maximum depth: 737.041260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.041260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791125; longitude = -122.001108; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 717.592911; finalDepth = 687.041260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:687.04126 # Seafloor depth:-737.041260 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # 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 105.686954 meters # Minimum depth: 767.592911 meters looking forward 0.000000 meters along route # Maximum depth: 767.592911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.592911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791711; longitude = -122.000155; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 720.913574; finalDepth = 717.592911; 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: 50 # Actual altitude: 50 # Commanded vehicle depth:717.592911 # Seafloor depth:-767.592911 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 105.686954 meters # Minimum depth: 770.913574 meters looking forward 0.000000 meters along route # Maximum depth: 770.913574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.913574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790990; longitude = -121.999483; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 672.756897; finalDepth = 720.913574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:720.913574 # Seafloor depth:-770.913574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.686954 meters # Minimum depth: 722.756897 meters looking forward 0.000000 meters along route # Maximum depth: 722.756897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.756897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789969; longitude = -122.000476; captureRadius = 10; duration = 105; initialDepth = 699.716234; finalDepth = 672.756897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:672.756897 # Seafloor depth:-722.756897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.686954 meters # Minimum depth: 749.716234 meters looking forward 0.000000 meters along route # Maximum depth: 749.716234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.716234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789248; longitude = -122.001176; captureRadius = 10; duration = 105; initialDepth = 704.294865; finalDepth = 699.716234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:699.716234 # Seafloor depth:-749.716234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.686954 meters # Minimum depth: 754.294865 meters looking forward 0.000000 meters along route # Maximum depth: 754.294865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.294865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788527; longitude = -122.001877; captureRadius = 10; duration = 105; initialDepth = 712.000676; finalDepth = 704.294865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:704.294865 # Seafloor depth:-754.294865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.686954 meters # Minimum depth: 762.000676 meters looking forward 0.000000 meters along route # Maximum depth: 762.000676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.000676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787806; longitude = -122.002578; captureRadius = 10; duration = 105; initialDepth = 742.459905; finalDepth = 712.000676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:712.000676 # Seafloor depth:-762.000676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.686954 meters # Minimum depth: 794.488037 meters looking forward 0.000000 meters along route # Maximum depth: 794.488037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.459905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787085; longitude = -122.003279; captureRadius = 10; duration = 105; initialDepth = 773.969983; finalDepth = 742.459905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0281323999999 # Actual altitude: 52.0281323999999 # Commanded vehicle depth:742.4599046 # Seafloor depth:-794.488037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 208.11; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.61; MB_Bottom_Detect_Filter_Max_Range = 208.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.686954 meters # Minimum depth: 832.947099 meters looking forward 0.000000 meters along route # Maximum depth: 832.947099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 773.969983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786339; longitude = -122.004004; captureRadius = 10; duration = 105; initialDepth = 789.375763; finalDepth = 773.969983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.9771155999998 # Actual altitude: 58.9771155999998 # Commanded vehicle depth:773.9699834 # Seafloor depth:-832.947099 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 235.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.69; MB_Bottom_Detect_Filter_Max_Range = 235.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 105.686954 meters # Minimum depth: 839.375763 meters looking forward 0.000000 meters along route # Maximum depth: 839.375763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.375763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785628; longitude = -122.004695; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 798.560970; finalDepth = 789.375763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.9771155999998 # Actual altitude: 58.9771155999998 # Commanded vehicle depth:789.375763 # Seafloor depth:-839.375763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 235.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.69; MB_Bottom_Detect_Filter_Max_Range = 235.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 105.686954 meters # Minimum depth: 848.560970 meters looking forward 0.000000 meters along route # Maximum depth: 848.560970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.560970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784787; longitude = -122.004917; captureRadius = 10; duration = 105; initialDepth = 821.774152; finalDepth = 798.560970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:798.56097 # Seafloor depth:-848.560970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 105.686954 meters # Minimum depth: 871.774152 meters looking forward 0.000000 meters along route # Maximum depth: 871.774152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 821.774152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783886; longitude = -122.005155; captureRadius = 10; duration = 105; initialDepth = 852.437079; finalDepth = 821.774152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:821.774152 # Seafloor depth:-871.774152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 105.686954 meters # Minimum depth: 909.491865 meters looking forward 0.000000 meters along route # Maximum depth: 909.491865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.437079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782984; longitude = -122.005393; captureRadius = 10; duration = 105; initialDepth = 883.100015; finalDepth = 852.437079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.0547862 # Actual altitude: 57.0547862 # Commanded vehicle depth:852.4370788 # Seafloor depth:-909.491865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 228.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.12; MB_Bottom_Detect_Filter_Max_Range = 228.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 105.686954 meters # Minimum depth: 944.411841 meters looking forward 0.000000 meters along route # Maximum depth: 944.411841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.100015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782083; longitude = -122.005630; captureRadius = 10; duration = 105; initialDepth = 913.729385; finalDepth = 883.100015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.3118258 # Actual altitude: 61.3118258 # Commanded vehicle depth:883.1000152 # Seafloor depth:-944.411841 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 245.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.39; MB_Bottom_Detect_Filter_Max_Range = 245.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 105.686954 meters # Minimum depth: 963.729385 meters looking forward 0.000000 meters along route # Maximum depth: 963.729385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.729385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781167; longitude = -122.005872; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 922.491250; finalDepth = 913.729385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.3118258 # Actual altitude: 61.3118258 # Commanded vehicle depth:913.729385 # Seafloor depth:-963.729385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 245.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.39; MB_Bottom_Detect_Filter_Max_Range = 245.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.686954 meters # Minimum depth: 972.491250 meters looking forward 0.000000 meters along route # Maximum depth: 972.491250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.491250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781190; longitude = -122.007086; captureRadius = 10; duration = 105; initialDepth = 917.770828; finalDepth = 922.491250; 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: 50 # Actual altitude: 50 # Commanded vehicle depth:922.49125 # Seafloor depth:-972.491250 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 105.686954 meters # Minimum depth: 967.770828 meters looking forward 0.000000 meters along route # Maximum depth: 967.770828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.770828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781212; longitude = -122.008226; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 844.601120; finalDepth = 917.770828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.770828 # Seafloor depth:-967.770828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 105.686954 meters # Minimum depth: 894.601120 meters looking forward 0.000000 meters along route # Maximum depth: 894.601120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 844.601120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782669; longitude = -122.007805; captureRadius = 10; duration = 105; initialDepth = 820.531593; finalDepth = 844.601120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:844.60112 # Seafloor depth:-894.601120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 105.686954 meters # Minimum depth: 870.531593 meters looking forward 0.000000 meters along route # Maximum depth: 870.531593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.531593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783570; longitude = -122.007545; captureRadius = 10; duration = 105; initialDepth = 811.916784; finalDepth = 820.531593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:820.531593 # Seafloor depth:-870.531593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 105.686954 meters # Minimum depth: 861.916784 meters looking forward 0.000000 meters along route # Maximum depth: 861.916784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 811.916784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784471; longitude = -122.007285; captureRadius = 10; duration = 105; initialDepth = 794.024138; finalDepth = 811.916784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:811.916784 # Seafloor depth:-861.916784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 105.686954 meters # Minimum depth: 844.024138 meters looking forward 0.000000 meters along route # Maximum depth: 844.024138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.024138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785373; longitude = -122.007025; captureRadius = 10; duration = 105; initialDepth = 787.123367; finalDepth = 794.024138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:794.024138 # Seafloor depth:-844.024138 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 105.686954 meters # Minimum depth: 837.123367 meters looking forward 0.000000 meters along route # Maximum depth: 837.123367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.123367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786259; longitude = -122.006769; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 786.905817; finalDepth = 787.123367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:787.123367 # Seafloor depth:-837.123367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.686954 meters # Minimum depth: 836.905817 meters looking forward 0.000000 meters along route # Maximum depth: 836.905817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.905817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787220; longitude = -122.006064; captureRadius = 10; duration = 105; initialDepth = 781.972321; finalDepth = 786.905817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:786.905817 # Seafloor depth:-836.905817 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 105.686954 meters # Minimum depth: 831.972321 meters looking forward 0.000000 meters along route # Maximum depth: 831.972321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 781.972321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788016; longitude = -122.005480; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 753.706406; finalDepth = 781.972321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:781.972321 # Seafloor depth:-831.972321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 105.686954 meters # Minimum depth: 803.706406 meters looking forward 0.000000 meters along route # Maximum depth: 803.706406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.706406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788662; longitude = -122.004785; captureRadius = 10; duration = 105; initialDepth = 720.875732; finalDepth = 753.706406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:753.706406 # Seafloor depth:-803.706406 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 105.686954 meters # Minimum depth: 770.875732 meters looking forward 0.000000 meters along route # Maximum depth: 770.875732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.875732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789353; longitude = -122.004041; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 719.906582; finalDepth = 720.875732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:720.875732 # Seafloor depth:-770.875732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.686954 meters # Minimum depth: 769.906582 meters looking forward 0.000000 meters along route # Maximum depth: 769.906582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.906582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790284; longitude = -122.003038; captureRadius = 10; duration = 105; initialDepth = 672.269798; finalDepth = 719.906582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:719.906582 # Seafloor depth:-769.906582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.686954 meters # Minimum depth: 722.269798 meters looking forward 0.000000 meters along route # Maximum depth: 722.269798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.269798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791005; longitude = -122.002261; captureRadius = 10; duration = 105; initialDepth = 667.857407; finalDepth = 672.269798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:672.269798 # Seafloor depth:-722.269798 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 105.686954 meters # Minimum depth: 717.857407 meters looking forward 0.000000 meters along route # Maximum depth: 717.857407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.857407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791711; longitude = -122.001501; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 682.854063; finalDepth = 667.857407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:667.857407 # Seafloor depth:-717.857407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 105.686954 meters # Minimum depth: 732.854063 meters looking forward 0.000000 meters along route # Maximum depth: 732.854063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.854063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792898; longitude = -122.000528; captureRadius = 10; duration = 105; initialDepth = 670.883911; finalDepth = 682.854063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:682.854063 # Seafloor depth:-732.854063 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 105.686954 meters # Minimum depth: 720.883911 meters looking forward 0.000000 meters along route # Maximum depth: 720.883911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.883911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793694; longitude = -121.999875; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 649.454643; finalDepth = 670.883911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:670.883911 # Seafloor depth:-720.883911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.686954 meters # Minimum depth: 699.454643 meters looking forward 0.000000 meters along route # Maximum depth: 699.454643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.454643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795016; longitude = -121.999076; captureRadius = 10; duration = 105; initialDepth = 637.666442; finalDepth = 649.454643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:649.454643 # Seafloor depth:-699.454643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.686954 meters # Minimum depth: 687.666442 meters looking forward 0.000000 meters along route # Maximum depth: 687.666442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.666442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795827; longitude = -121.998586; captureRadius = 10; duration = 105; initialDepth = 630.042260; finalDepth = 637.666442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:637.666442 # Seafloor depth:-687.666442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.686954 meters # Minimum depth: 680.042260 meters looking forward 0.000000 meters along route # Maximum depth: 680.042260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.042260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796638; longitude = -121.998095; captureRadius = 10; duration = 105; initialDepth = 626.981461; finalDepth = 630.042260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:630.04226 # Seafloor depth:-680.042260 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 105.686954 meters # Minimum depth: 676.981461 meters looking forward 0.000000 meters along route # Maximum depth: 676.981461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.981461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797464; longitude = -121.997596; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 609.918562; finalDepth = 626.981461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:626.981461 # Seafloor depth:-676.981461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 105.686954 meters # Minimum depth: 659.918562 meters looking forward 0.000000 meters along route # Maximum depth: 659.918562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.918562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798936; longitude = -121.997117; captureRadius = 10; duration = 105; initialDepth = 604.246765; finalDepth = 609.918562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:609.918562 # Seafloor depth:-659.918562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 105.686954 meters # Minimum depth: 654.246765 meters looking forward 0.000000 meters along route # Maximum depth: 654.246765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.246765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799820; longitude = -121.996830; captureRadius = 10; duration = 105; initialDepth = 595.522855; finalDepth = 604.246765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:604.246765 # Seafloor depth:-654.246765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 105.686954 meters # Minimum depth: 645.522855 meters looking forward 0.000000 meters along route # Maximum depth: 645.522855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.522855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800694; longitude = -121.996546; captureRadius = 10; duration = 105; initialDepth = 588.661072; finalDepth = 595.522855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:595.522855 # Seafloor depth:-645.522855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 105.686954 meters # Minimum depth: 638.661072 meters looking forward 0.000000 meters along route # Maximum depth: 638.661072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.661072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801595; longitude = -121.996253; captureRadius = 10; duration = 105; initialDepth = 578.863098; finalDepth = 588.661072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:588.661072 # Seafloor depth:-638.661072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 105.686954 meters # Minimum depth: 628.863098 meters looking forward 0.000000 meters along route # Maximum depth: 628.863098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.863098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802496; longitude = -121.995960; captureRadius = 10; duration = 105; initialDepth = 569.927246; finalDepth = 578.863098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:578.863098 # Seafloor depth:-628.863098 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 105.686954 meters # Minimum depth: 619.927246 meters looking forward 0.000000 meters along route # Maximum depth: 619.927246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.927246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803382; longitude = -121.995672; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 562.347795; finalDepth = 569.927246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:569.927246 # Seafloor depth:-619.927246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.686954 meters # Minimum depth: 612.347795 meters looking forward 0.000000 meters along route # Maximum depth: 612.347795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.347795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804208; longitude = -121.995415; captureRadius = 10; duration = 105; initialDepth = 555.609924; finalDepth = 562.347795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:562.347795 # Seafloor depth:-612.347795 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 105.686954 meters # Minimum depth: 605.609924 meters looking forward 0.000000 meters along route # Maximum depth: 605.609924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.609924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805125; longitude = -121.995130; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 559.762977; finalDepth = 555.609924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:555.609924 # Seafloor depth:-605.609924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 105.686954 meters # Minimum depth: 609.762977 meters looking forward 0.000000 meters along route # Maximum depth: 609.762977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.762977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805966; longitude = -121.995015; captureRadius = 10; duration = 105; initialDepth = 554.442566; finalDepth = 559.762977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:559.762977 # Seafloor depth:-609.762977 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 105.686954 meters # Minimum depth: 604.442566 meters looking forward 0.000000 meters along route # Maximum depth: 604.442566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.442566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806897; longitude = -121.994887; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 543.799973; finalDepth = 554.442566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:554.442566 # Seafloor depth:-604.442566 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 105.686954 meters # Minimum depth: 593.799973 meters looking forward 0.000000 meters along route # Maximum depth: 593.799973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.799973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808294; longitude = -121.994943; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 537.987396; finalDepth = 543.799973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:543.799973 # Seafloor depth:-593.799973 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # 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 105.686954 meters # Minimum depth: 587.987396 meters looking forward 0.000000 meters along route # Maximum depth: 587.987396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.987396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809270; longitude = -121.994345; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 542.473297; finalDepth = 537.987396; 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: 50 # Actual altitude: 50 # Commanded vehicle depth:537.987396 # Seafloor depth:-587.987396 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 105.686954 meters # Minimum depth: 592.473297 meters looking forward 0.000000 meters along route # Maximum depth: 592.473297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.473297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809150; longitude = -121.993150; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 543.341500; finalDepth = 542.473297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:542.473297 # Seafloor depth:-592.473297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.686954 meters # Minimum depth: 593.341500 meters looking forward 0.000000 meters along route # Maximum depth: 593.341500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.341500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808692; longitude = -121.992178; captureRadius = 10; duration = 105; initialDepth = 467.868102; finalDepth = 543.341500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:543.3415 # Seafloor depth:-593.341500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.686954 meters # Minimum depth: 517.868102 meters looking forward 0.000000 meters along route # Maximum depth: 517.868102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.868102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808216; longitude = -121.991170; captureRadius = 10; duration = 105; initialDepth = 420.559454; finalDepth = 467.868102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:467.868102 # Seafloor depth:-517.868102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.686954 meters # Minimum depth: 470.559454 meters looking forward 0.000000 meters along route # Maximum depth: 470.559454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.559454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807740; longitude = -121.990161; captureRadius = 10; duration = 105; initialDepth = 381.345192; finalDepth = 420.559454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:420.559454 # Seafloor depth:-470.559454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.686954 meters # Minimum depth: 431.345192 meters looking forward 0.000000 meters along route # Maximum depth: 431.345192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.345192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807273; longitude = -121.989169; captureRadius = 10; duration = 105; initialDepth = 387.414254; finalDepth = 381.345192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:381.345192 # Seafloor depth:-431.345192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.686954 meters # Minimum depth: 437.414254 meters looking forward 0.000000 meters along route # Maximum depth: 437.414254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.414254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806815; longitude = -121.988199; captureRadius = 10; duration = 105; initialDepth = 357.765169; finalDepth = 387.414254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:387.414254 # Seafloor depth:-437.414254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.686954 meters # Minimum depth: 407.765169 meters looking forward 0.000000 meters along route # Maximum depth: 407.765169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.765169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806340; longitude = -121.987190; captureRadius = 10; duration = 105; initialDepth = 332.329747; finalDepth = 357.765169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:357.765169 # Seafloor depth:-407.765169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.686954 meters # Minimum depth: 382.329747 meters looking forward 0.000000 meters along route # Maximum depth: 382.329747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.329747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805876; longitude = -121.986207; captureRadius = 10; duration = 105; initialDepth = 278.652383; finalDepth = 332.329747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:332.329747 # Seafloor depth:-382.329747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.686954 meters # Minimum depth: 328.652383 meters looking forward 0.000000 meters along route # Maximum depth: 328.652383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.652383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805414; longitude = -121.985229; captureRadius = 10; duration = 105; initialDepth = 252.874958; finalDepth = 278.652383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:278.652383 # Seafloor depth:-328.652383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.686954 meters # Minimum depth: 302.874958 meters looking forward 0.000000 meters along route # Maximum depth: 302.874958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.874958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804939; longitude = -121.984220; captureRadius = 10; duration = 105; initialDepth = 227.005926; finalDepth = 252.874958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:252.874958 # Seafloor depth:-302.874958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.686954 meters # Minimum depth: 277.005926 meters looking forward 0.000000 meters along route # Maximum depth: 277.005926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.005926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804479; longitude = -121.983245; captureRadius = 10; duration = 105; initialDepth = 208.516632; finalDepth = 227.005926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:227.005926 # Seafloor depth:-277.005926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.686954 meters # Minimum depth: 258.516632 meters looking forward 0.000000 meters along route # Maximum depth: 258.516632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 208.516632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804014; longitude = -121.982259; captureRadius = 10; duration = 105; initialDepth = 161.186062; finalDepth = 208.516632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:208.516632 # Seafloor depth:-258.516632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.686954 meters # Minimum depth: 211.186062 meters looking forward 0.000000 meters along route # Maximum depth: 211.186062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.186062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803538; longitude = -121.981250; captureRadius = 10; duration = 105; initialDepth = 132.327566; finalDepth = 161.186062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:161.186062 # Seafloor depth:-211.186062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.686954 meters # Minimum depth: 182.327566 meters looking forward 0.000000 meters along route # Maximum depth: 182.327566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.327566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803082; longitude = -121.980283; captureRadius = 10; duration = 105; initialDepth = 136.060864; finalDepth = 132.327566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:132.327566 # Seafloor depth:-182.327566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.686954 meters # Minimum depth: 186.060864 meters looking forward 0.000000 meters along route # Maximum depth: 186.060864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.060864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802613; longitude = -121.979288; captureRadius = 10; duration = 105; initialDepth = 86.850416; finalDepth = 136.060864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:136.060864 # Seafloor depth:-186.060864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.686954 meters # Minimum depth: 136.850416 meters looking forward 0.000000 meters along route # Maximum depth: 136.850416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.850416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802136; longitude = -121.978276; captureRadius = 10; duration = 105; initialDepth = 62.421839; finalDepth = 86.850416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:86.850416 # Seafloor depth:-136.850416 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 105.686954 meters # Minimum depth: 112.421839 meters looking forward 0.000000 meters along route # Maximum depth: 112.421839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.421839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801670; longitude = -121.977289; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 52.902647; finalDepth = 62.421839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:62.421839 # Seafloor depth:-112.421839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.686954 meters # Minimum depth: 102.902647 meters looking forward 0.000000 meters along route # Maximum depth: 102.902647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.902647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801093; longitude = -121.976038; captureRadius = 10; duration = 105; initialDepth = 51.442942; finalDepth = 52.902647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:52.902647 # Seafloor depth:-102.902647 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; HiSS_Range = 337.5; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # ####################################################### # 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: 50 # Sonar parameter altitude: 50 # Commanded vehicle depth:51.442942 # Seafloor depth:-101.442942 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 105.686954 meters # Minimum depth: 101.442942 meters looking forward 0.000000 meters along route # Maximum depth: 101.442942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 947.491250 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.442942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800618; longitude = -121.975010; captureRadius = 10; duration = 600; initialDepth = 51.442942; finalDepth = 51.442942; 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 = 259.233285; 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 = 259.233285; 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 = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # 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